Drake
Drake C++ Documentation
GlobalInverseKinematics Member List

This is the complete list of members for GlobalInverseKinematics, including all inherited members.

AddJointLimitConstraint(BodyIndex body_index, double joint_lower_bound, double joint_upper_bound, bool linear_constraint_approximation=false)GlobalInverseKinematics
AddPostureCost(const Eigen::Ref< const Eigen::VectorXd > &q_desired, const Eigen::Ref< const Eigen::VectorXd > &body_position_cost, const Eigen::Ref< const Eigen::VectorXd > &body_orientation_cost)GlobalInverseKinematics
AddWorldOrientationConstraint(BodyIndex body_index, const Eigen::Quaterniond &desired_orientation, double angle_tol)GlobalInverseKinematics
AddWorldPositionConstraint(BodyIndex body_index, const Eigen::Vector3d &p_BQ, const Eigen::Vector3d &box_lb_F, const Eigen::Vector3d &box_ub_F, const math::RigidTransformd &X_WF=math::RigidTransformd())GlobalInverseKinematics
AddWorldRelativePositionConstraint(BodyIndex body_index_B, const Eigen::Vector3d &p_BQ, BodyIndex body_index_A, const Eigen::Vector3d &p_AP, const Eigen::Vector3d &box_lb_F, const Eigen::Vector3d &box_ub_F, const math::RigidTransformd &X_WF=math::RigidTransformd())GlobalInverseKinematics
body_position(BodyIndex body_index) constGlobalInverseKinematics
body_rotation_matrix(BodyIndex body_index) constGlobalInverseKinematics
BodyPointInOneOfRegions(BodyIndex body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, const std::vector< Eigen::Matrix3Xd > &region_vertices)GlobalInverseKinematics
BodySphereInOneOfPolytopes(BodyIndex body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, double radius, const std::vector< Polytope3D > &polytopes)GlobalInverseKinematics
get_mutable_prog()GlobalInverseKinematics
GlobalInverseKinematics(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
GlobalInverseKinematics(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
GlobalInverseKinematics(const MultibodyPlant< double > &plant, const Options &options=Options())GlobalInverseKinematicsexplicit
operator=(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
operator=(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
prog() constGlobalInverseKinematics
ReconstructGeneralizedPositionSolution(const solvers::MathematicalProgramResult &result) constGlobalInverseKinematics
SetInitialGuess(const Eigen::Ref< const Eigen::VectorXd > &q)GlobalInverseKinematics
~GlobalInverseKinematics()GlobalInverseKinematics