Drake
approximate_ik.cc File Reference
#include <math.h>
#include <set>
#include <gurobi_c++.h>
#include "drake/multibody/ik_options.h"
#include "drake/multibody/rigid_body_constraint.h"
#include "drake/multibody/rigid_body_ik.h"
#include "drake/multibody/rigid_body_tree.h"
Include dependency graph for approximate_ik.cc:

Functions

template<typename DerivedA , typename DerivedB , typename DerivedC >
void approximateIK (RigidBodyTree< double > *model, const MatrixBase< DerivedA > &q_seed, const MatrixBase< DerivedB > &q_nom, const int num_constraints, const RigidBodyConstraint *const *constraint_array, const IKoptions &ikoptions, MatrixBase< DerivedC > *q_sol, int *info)
 
template void approximateIK (RigidBodyTree< double > *, const MatrixBase< Map< VectorXd >> &, const MatrixBase< Map< VectorXd >> &, const int, const RigidBodyConstraint *const *, const IKoptions &, MatrixBase< Map< VectorXd >> *, int *)
 
template void approximateIK (RigidBodyTree< double > *, const MatrixBase< VectorXd > &, const MatrixBase< VectorXd > &, const int, const RigidBodyConstraint *const *, const IKoptions &, MatrixBase< VectorXd > *, int *)
 

Function Documentation

void approximateIK ( RigidBodyTree< double > *  model,
const MatrixBase< DerivedA > &  q_seed,
const MatrixBase< DerivedB > &  q_nom,
const int  num_constraints,
const RigidBodyConstraint *const *  constraint_array,
const IKoptions ikoptions,
MatrixBase< DerivedC > *  q_sol,
int info 
)

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template void approximateIK ( RigidBodyTree< double > *  ,
const MatrixBase< Map< VectorXd >> &  ,
const MatrixBase< Map< VectorXd >> &  ,
const int  ,
const RigidBodyConstraint *const *  ,
const IKoptions ,
MatrixBase< Map< VectorXd >> *  ,
int  
)
template void approximateIK ( RigidBodyTree< double > *  ,
const MatrixBase< VectorXd > &  ,
const MatrixBase< VectorXd > &  ,
const int  ,
const RigidBodyConstraint *const *  ,
const IKoptions ,
MatrixBase< VectorXd > *  ,
int  
)