Drake
inverse_kinematics.cc File Reference
#include <string>
#include <vector>
#include "drake/multibody/inverse_kinematics_backend.h"
#include "drake/multibody/rigid_body_ik.h"
#include "drake/multibody/rigid_body_tree.h"
Include dependency graph for inverse_kinematics.cc:

Functions

template<typename DerivedA , typename DerivedB , typename DerivedC >
void inverseKin (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, std::vector< std::string > *infeasible_constraint)
 
template void inverseKin (RigidBodyTree< double > *model, const MatrixBase< VectorXd > &q_seed, const MatrixBase< VectorXd > &q_nom, const int num_constraints, const RigidBodyConstraint *const *constraint_array, const IKoptions &ikoptions, MatrixBase< VectorXd > *q_sol, int *info, std::vector< std::string > *infeasible_constraint)
 
template void inverseKin (RigidBodyTree< double > *model, const MatrixBase< Map< VectorXd >> &q_seed, const MatrixBase< Map< VectorXd >> &q_nom, const int num_constraints, const RigidBodyConstraint *const *constraint_array, const IKoptions &ikoptions, MatrixBase< Map< VectorXd >> *q_sol, int *info, std::vector< std::string > *infeasible_constraint)
 
IKResults inverseKinSimple (RigidBodyTree< double > *model, const Eigen::VectorXd &q_seed, const Eigen::VectorXd &q_nom, const std::vector< RigidBodyConstraint * > &constraint_array, const IKoptions &ikoptions)
 Simplified (non-template) version of inverseKin. More...
 

Function Documentation

void inverseKin ( 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,
std::vector< std::string > *  infeasible_constraint 
)

Here is the call graph for this function:

Here is the caller graph for this function:

template void inverseKin ( RigidBodyTree< double > *  model,
const MatrixBase< VectorXd > &  q_seed,
const MatrixBase< VectorXd > &  q_nom,
const int  num_constraints,
const RigidBodyConstraint *const *  constraint_array,
const IKoptions ikoptions,
MatrixBase< VectorXd > *  q_sol,
int info,
std::vector< std::string > *  infeasible_constraint 
)
template void inverseKin ( RigidBodyTree< double > *  model,
const MatrixBase< Map< VectorXd >> &  q_seed,
const MatrixBase< Map< VectorXd >> &  q_nom,
const int  num_constraints,
const RigidBodyConstraint *const *  constraint_array,
const IKoptions ikoptions,
MatrixBase< Map< VectorXd >> *  q_sol,
int info,
std::vector< std::string > *  infeasible_constraint 
)
IKResults inverseKinSimple ( RigidBodyTree< double > *  model,
const Eigen::VectorXd &  q_seed,
const Eigen::VectorXd &  q_nom,
const std::vector< RigidBodyConstraint * > &  constraint_array,
const IKoptions ikoptions 
)

Simplified (non-template) version of inverseKin.

Useful for generating bindings to non-C++ languages.

Here is the caller graph for this function: