Drake::systems::plants Namespace Reference

Classes
class	KinematicsCacheHelper
	Helper class to avoid recalculating a kinematics cache which is going to be used repeatedly by multiple other classes. More...
class	QuasiStaticConstraintWrapper
class	SingleTimeKinematicConstraintWrapper

Functions
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< DerivedD > *qdot_sol, MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< Map< MatrixXd >> *qdot_sol, MatrixBase< Map< MatrixXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, MatrixBase< Map< VectorXd >> *qdot_sol, MatrixBase< Map< VectorXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< VectorXd > &q_seed, const MatrixBase< VectorXd > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< VectorXd > *q_sol, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const Eigen::MatrixBase< DerivedA > &q_seed, const Eigen::MatrixBase< DerivedB > &q_nom, int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, Eigen::MatrixBase< DerivedC > *q_sol, Eigen::MatrixBase< DerivedD > *qdot_sol, Eigen::MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
	This function is primarily documented through RigidBodyIK.h. More...
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const Eigen::MatrixBase< DerivedA > &q_seed, const Eigen::MatrixBase< DerivedB > &q_nom, int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, Eigen::MatrixBase< DerivedC > *q_sol, Eigen::MatrixBase< DerivedD > *qdot_sol, Eigen::MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE >
void	inverseKinSnoptBackend (RigidBodyTree *model_input, const int mode, const int nT_input, const double *t_input, const MatrixBase< DerivedA > &q_seed, const MatrixBase< DerivedB > &q_nom_input, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< DerivedC > *q_sol, MatrixBase< DerivedD > *qdot_sol, MatrixBase< DerivedE > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< Map< MatrixXd >> *qdot_sol, MatrixBase< Map< MatrixXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, 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, MatrixBase< MatrixXd > *qdot_sol, MatrixBase< MatrixXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, MatrixBase< Map< VectorXd >> *qdot_sol, MatrixBase< Map< VectorXd >> *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< VectorXd > &q_seed, const MatrixBase< VectorXd > &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< VectorXd > *q_sol, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
template void	inverseKinSnoptBackend (RigidBodyTree *model, const int mode, const int nT, const double *t, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, RigidBodyConstraint **const constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, MatrixBase< VectorXd > *qdot_sol, MatrixBase< VectorXd > *qddot_sol, int *INFO, std::vector< std::string > *infeasible_constraint)
static void	gevalNumerical (void(*func_ptr)(const VectorXd &, VectorXd &), const VectorXd &x, VectorXd &c, MatrixXd &dc, int order=2)
static void	IK_constraint_fun (KinematicsCache< double > &cache, double *x, double *c, double *G)
static void	IK_cost_fun (double *x, double &J, double *dJ)
static int	snoptIKfun (snopt::integer *Status, snopt::integer *n, snopt::doublereal x[], snopt::integer *needF, snopt::integer *neF, snopt::doublereal F[], snopt::integer *needG, snopt::integer *neG, snopt::doublereal G[], char *cu, snopt::integer *lencu, snopt::integer iu[], snopt::integer *leniu, snopt::doublereal ru[], snopt::integer *lenru)
static void	IKtraj_cost_fun (MatrixXd q, const VectorXd &qdot0, const VectorXd &qdotf, double &J, double *dJ)
static int	snoptIKtrajfun (snopt::integer *Status, snopt::integer *n, snopt::doublereal x[], snopt::integer *needF, snopt::integer *neF, snopt::doublereal F[], snopt::integer *needG, snopt::integer *neG, snopt::doublereal G[], char *cu, snopt::integer *lencu, snopt::integer iu[], snopt::integer *leniu, snopt::doublereal ru[], snopt::integer *lenru)
static void	snoptIKtraj_userfun (const VectorXd &x_vec, VectorXd &c_vec, VectorXd &G_vec)
static void	snoptIKtraj_fevalfun (const VectorXd &x, VectorXd &c)

Variables
static unique_ptr< snopt::doublereal[]>	rw
static unique_ptr< snopt::integer[]>	iw
static unique_ptr< char[]>	cw
static snopt::integer	lenrw = 0
static snopt::integer	leniw = 0
static snopt::integer	lencw = 0
static RigidBodyTree *	model = nullptr
static SingleTimeKinematicConstraint **	st_kc_array = nullptr
static MultipleTimeKinematicConstraint **	mt_kc_array = nullptr
static QuasiStaticConstraint *	qsc_ptr = nullptr
static MatrixXd	q_nom
static VectorXd	q_nom_i
static MatrixXd	Q
static MatrixXd	Qa
static MatrixXd	Qv
static bool	qscActiveFlag
static snopt::integer	nx
static snopt::integer	nF
static snopt::integer	nG
static snopt::integer *	nc_array
static snopt::integer *	nG_array
static snopt::integer *	nA_array
static int	nq
static int	nv
static double *	t = nullptr
static double *	t_samples = nullptr
static double *	ti = nullptr
static int	num_st_kc
static int	num_mt_kc
static int	num_st_lpc
static int	num_mt_lpc
static int *	mt_kc_nc
static int *	st_lpc_nc
static int *	mt_lpc_nc
static int	nT
static int	num_qsc_pts
static bool	fixInitialState
static snopt::integer *	qfree_idx
static snopt::integer *	qdotf_idx
static snopt::integer *	qdot0_idx
static VectorXd	q0_fixed
static VectorXd	qdot0_fixed
static snopt::integer	qstart_idx
static snopt::integer	num_qfree
static snopt::integer	num_qdotfree
static MatrixXd	velocity_mat
static MatrixXd	velocity_mat_qd0
static MatrixXd	velocity_mat_qdf
static MatrixXd	accel_mat
static MatrixXd	accel_mat_qd0
static MatrixXd	accel_mat_qdf
static VectorXd *	t_inbetween
static snopt::integer	num_inbetween_tSamples
static MatrixXd *	dqInbetweendqknot
static MatrixXd *	dqInbetweendqd0
static MatrixXd *	dqInbetweendqdf
static snopt::integer *	qknot_qsamples_idx
static snopt::integer	nF_tmp
static snopt::integer	nG_tmp
static snopt::integer	nx_tmp

Function Documentation

static void Drake::systems::plants::gevalNumerical ( void(*)(const VectorXd &, VectorXd &)  func_ptr, const VectorXd &  x, VectorXd &  c, MatrixXd &  dc, int  order = 2  )

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static void Drake::systems::plants::IK_constraint_fun ( KinematicsCache< double > &  cache, double *  x, double *  c, double *  G  )

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static void Drake::systems::plants::IK_cost_fun ( double *  x, double &  J, double *  dJ  )

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static void Drake::systems::plants::IKtraj_cost_fun ( MatrixXd  q, const VectorXd &  qdot0, const VectorXd &  qdotf, double &  J, double *  dJ  )

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void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const Eigen::MatrixBase< DerivedA > &	q_seed,
		const Eigen::MatrixBase< DerivedB > &	q_nom,
		int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		Eigen::MatrixBase< DerivedC > *	q_sol,
		Eigen::MatrixBase< DerivedD > *	qdot_sol,
		Eigen::MatrixBase< DerivedE > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

This function is primarily documented through RigidBodyIK.h.

All parameters are passthroughs from there.

void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< DerivedD > *	qdot_sol,
		MatrixBase< DerivedE > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

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template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< Map< MatrixXd >> *	qdot_sol,
		MatrixBase< Map< MatrixXd >> *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< MatrixXd > *	qdot_sol,
		MatrixBase< MatrixXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< MatrixXd > *	qdot_sol,
		MatrixBase< MatrixXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< VectorXd >> &	q_seed,
		const MatrixBase< Map< VectorXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< VectorXd >> *	q_sol,
		MatrixBase< Map< VectorXd >> *	qdot_sol,
		MatrixBase< Map< VectorXd >> *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< VectorXd > &	q_seed,
		const MatrixBase< VectorXd > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< VectorXd > *	q_sol,
		MatrixBase< VectorXd > *	qdot_sol,
		MatrixBase< VectorXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void Drake::systems::plants::inverseKinBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< VectorXd >> &	q_seed,
		const MatrixBase< Map< VectorXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< VectorXd >> *	q_sol,
		MatrixBase< VectorXd > *	qdot_sol,
		MatrixBase< VectorXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

void inverseKinSnoptBackend	(	RigidBodyTree *	model_input,
		const int	mode,
		const int	nT_input,
		const double *	t_input,
		const MatrixBase< DerivedA > &	q_seed,
		const MatrixBase< DerivedB > &	q_nom_input,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< DerivedC > *	q_sol,
		MatrixBase< DerivedD > *	qdot_sol,
		MatrixBase< DerivedE > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

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template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< Map< MatrixXd >> *	qdot_sol,
		MatrixBase< Map< MatrixXd >> *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

void Drake::systems::plants::inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const Eigen::MatrixBase< DerivedA > &	q_seed,
		const Eigen::MatrixBase< DerivedB > &	q_nom,
		int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		Eigen::MatrixBase< DerivedC > *	q_sol,
		Eigen::MatrixBase< DerivedD > *	qdot_sol,
		Eigen::MatrixBase< DerivedE > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

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template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< MatrixXd > *	qdot_sol,
		MatrixBase< MatrixXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		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,
		MatrixBase< MatrixXd > *	qdot_sol,
		MatrixBase< MatrixXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< VectorXd >> &	q_seed,
		const MatrixBase< Map< VectorXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< VectorXd >> *	q_sol,
		MatrixBase< Map< VectorXd >> *	qdot_sol,
		MatrixBase< Map< VectorXd >> *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< VectorXd > &	q_seed,
		const MatrixBase< VectorXd > &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< VectorXd > *	q_sol,
		MatrixBase< VectorXd > *	qdot_sol,
		MatrixBase< VectorXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

template void inverseKinSnoptBackend	(	RigidBodyTree *	model,
		const int	mode,
		const int	nT,
		const double *	t,
		const MatrixBase< Map< VectorXd >> &	q_seed,
		const MatrixBase< Map< VectorXd >> &	q_nom,
		const int	num_constraints,
		RigidBodyConstraint **const	constraint_array,
		const IKoptions &	ikoptions,
		MatrixBase< Map< VectorXd >> *	q_sol,
		MatrixBase< VectorXd > *	qdot_sol,
		MatrixBase< VectorXd > *	qddot_sol,
		int *	INFO,
		std::vector< std::string > *	infeasible_constraint
	)

static int Drake::systems::plants::snoptIKfun ( snopt::integer *  Status, snopt::integer *  n, snopt::doublereal  x[], snopt::integer *  needF, snopt::integer *  neF, snopt::doublereal  F[], snopt::integer *  needG, snopt::integer *  neG, snopt::doublereal  G[], char *  cu, snopt::integer *  lencu, snopt::integer  iu[], snopt::integer *  leniu, snopt::doublereal  ru[], snopt::integer *  lenru  )

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static void Drake::systems::plants::snoptIKtraj_fevalfun ( const VectorXd &  x, VectorXd &  c  )

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static void Drake::systems::plants::snoptIKtraj_userfun ( const VectorXd &  x_vec, VectorXd &  c_vec, VectorXd &  G_vec  )

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static int Drake::systems::plants::snoptIKtrajfun ( snopt::integer *  Status, snopt::integer *  n, snopt::doublereal  x[], snopt::integer *  needF, snopt::integer *  neF, snopt::doublereal  F[], snopt::integer *  needG, snopt::integer *  neG, snopt::doublereal  G[], char *  cu, snopt::integer *  lencu, snopt::integer  iu[], snopt::integer *  leniu, snopt::doublereal  ru[], snopt::integer *  lenru  )

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Variable Documentation

MatrixXd accel_mat

static

MatrixXd accel_mat_qd0

static

MatrixXd accel_mat_qdf

static

unique_ptr<char[]> cw

static

MatrixXd* dqInbetweendqd0

static

MatrixXd* dqInbetweendqdf

static

MatrixXd* dqInbetweendqknot

static

bool fixInitialState

static

unique_ptr<snopt::integer[]> iw

static

snopt::integer lencw = 0

static

snopt::integer leniw = 0

static

snopt::integer lenrw = 0

static

RigidBodyTree* model = nullptr

static

MultipleTimeKinematicConstraint** mt_kc_array = nullptr

static

int* mt_kc_nc

static

int* mt_lpc_nc

static

snopt::integer* nA_array

static

snopt::integer* nc_array

static

snopt::integer nF

static

snopt::integer nF_tmp

static

snopt::integer nG

static

snopt::integer* nG_array

static

snopt::integer nG_tmp

static

int nq

static

int nT

static

snopt::integer num_inbetween_tSamples

static

int num_mt_kc

static

int num_mt_lpc

static

snopt::integer num_qdotfree

static

snopt::integer num_qfree

static

int num_qsc_pts

static

int num_st_kc

static

int num_st_lpc

static

int nv

static

snopt::integer nx

static

snopt::integer nx_tmp

static

MatrixXd Q

static

VectorXd q0_fixed

static

MatrixXd q_nom

static

VectorXd q_nom_i

static

MatrixXd Qa

static

VectorXd qdot0_fixed

static

snopt::integer* qdot0_idx

static

snopt::integer* qdotf_idx

static

snopt::integer* qfree_idx

static

snopt::integer* qknot_qsamples_idx

static

QuasiStaticConstraint* qsc_ptr = nullptr

static

bool qscActiveFlag

static

snopt::integer qstart_idx

static

MatrixXd Qv

static

unique_ptr<snopt::doublereal[]> rw

static

SingleTimeKinematicConstraint** st_kc_array = nullptr

static

int* st_lpc_nc

static

double* t = nullptr

static

VectorXd* t_inbetween

static

double* t_samples = nullptr

static

double* ti = nullptr

static

MatrixXd velocity_mat

static

MatrixXd velocity_mat_qd0

static

MatrixXd velocity_mat_qdf

static