inverseKinPointwise.cpp File Reference

#include "drake/systems/plants/RigidBodyIK.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "inverseKinBackend.h"

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Functions
template<typename DerivedA , typename DerivedB , typename DerivedC >
DRAKEIK_EXPORT void	inverseKinPointwise (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< DerivedA > &q_seed, const MatrixBase< DerivedB > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< DerivedC > *q_sol, int *INFO, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKinPointwise (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< Map< MatrixXd >> &q_seed, const MatrixBase< Map< MatrixXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< MatrixXd >> *q_sol, int *INFO, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKinPointwise (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< MatrixXd > &q_seed, const MatrixBase< MatrixXd > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< MatrixXd > *q_sol, int *INFO, vector< string > *infeasible_constraint)

Function Documentation

DRAKEIK_EXPORT void inverseKinPointwise	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< DerivedA > &	q_seed,
		const MatrixBase< DerivedB > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< DerivedC > *	q_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

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template DRAKEIK_EXPORT void inverseKinPointwise	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< MatrixXd >> &	q_seed,
		const MatrixBase< Map< MatrixXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< MatrixXd >> *	q_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

template DRAKEIK_EXPORT void inverseKinPointwise	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< MatrixXd > &	q_seed,
		const MatrixBase< MatrixXd > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< MatrixXd > *	q_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)