inverseKinTraj.cpp File Reference

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

Include dependency graph for inverseKinTraj.cpp:

Functions
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE , typename DerivedF >
DRAKEIK_EXPORT void	inverseKinTraj (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< DerivedA > &qdot0_seed, const MatrixBase< DerivedB > &q_seed, const MatrixBase< DerivedC > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions_in, MatrixBase< DerivedD > *q_sol, MatrixBase< DerivedE > *qdot_sol, MatrixBase< DerivedF > *qddot_sol, int *INFO, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKinTraj (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< Map< VectorXd >> &qdot0_seed, 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, MatrixBase< Map< MatrixXd >> *qdot_sol, MatrixBase< Map< MatrixXd >> *qddot_sol, int *INFO, vector< string > *infeasible_constraint)
template DRAKEIK_EXPORT void	inverseKinTraj (RigidBodyTree *model, const int nT, const double *t, const MatrixBase< VectorXd > &qdot0_seed, 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, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, vector< string > *infeasible_constraint)

Function Documentation

DRAKEIK_EXPORT void inverseKinTraj	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< DerivedA > &	qdot0_seed,
		const MatrixBase< DerivedB > &	q_seed,
		const MatrixBase< DerivedC > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions_in,
		MatrixBase< DerivedD > *	q_sol,
		MatrixBase< DerivedE > *	qdot_sol,
		MatrixBase< DerivedF > *	qddot_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

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template DRAKEIK_EXPORT void inverseKinTraj	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< VectorXd >> &	qdot0_seed,
		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,
		MatrixBase< Map< MatrixXd >> *	qdot_sol,
		MatrixBase< Map< MatrixXd >> *	qddot_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)

template DRAKEIK_EXPORT void inverseKinTraj	(	RigidBodyTree *	model,
		const int	nT,
		const double *	t,
		const MatrixBase< VectorXd > &	qdot0_seed,
		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,
		MatrixBase< MatrixXd > *	qdot_sol,
		MatrixBase< MatrixXd > *	qddot_sol,
		int *	INFO,
		vector< string > *	infeasible_constraint
	)