Drake
inverse_kinematics_trajectory.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"
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Functions

template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD , typename DerivedE , typename DerivedF >
void inverseKinTraj (RigidBodyTree< double > *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, const RigidBodyConstraint *const *constraint_array, const IKoptions &ikoptions_in, MatrixBase< DerivedD > *q_sol, MatrixBase< DerivedE > *qdot_sol, MatrixBase< DerivedF > *qddot_sol, int *info, std::vector< std::string > *infeasible_constraint)
 
template void inverseKinTraj (RigidBodyTree< double > *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, const 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 inverseKinTraj (RigidBodyTree< double > *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, const 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)
 
IKResults inverseKinTrajSimple (RigidBodyTree< double > *model, const Eigen::VectorXd &t, const Eigen::MatrixXd &q_seed, const Eigen::MatrixXd &q_nom, const std::vector< RigidBodyConstraint * > &constraint_array, const IKoptions &ikoptions)
 Simplified (non-template) version of inverseKinTraj. More...
 

Function Documentation

void inverseKinTraj ( RigidBodyTree< double > *  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,
const RigidBodyConstraint *const *  constraint_array,
const IKoptions ikoptions_in,
MatrixBase< DerivedD > *  q_sol,
MatrixBase< DerivedE > *  qdot_sol,
MatrixBase< DerivedF > *  qddot_sol,
int info,
std::vector< std::string > *  infeasible_constraint 
)

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template void inverseKinTraj ( RigidBodyTree< double > *  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,
const 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 inverseKinTraj ( RigidBodyTree< double > *  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,
const 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 
)
IKResults inverseKinTrajSimple ( RigidBodyTree< double > *  model,
const Eigen::VectorXd &  t,
const Eigen::MatrixXd &  q_seed,
const Eigen::MatrixXd &  q_nom,
const std::vector< RigidBodyConstraint * > &  constraint_array,
const IKoptions ikoptions 
)

Simplified (non-template) version of inverseKinTraj.

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

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