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Drake
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Drake
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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) const | GlobalInverseKinematics | |
| body_rotation_matrix(BodyIndex body_index) const | GlobalInverseKinematics | |
| BodyPointInOneOfRegions(BodyIndex body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, const std::vector< Eigen::Matrix3Xd > ®ion_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 &)=delete | GlobalInverseKinematics | |
| GlobalInverseKinematics(GlobalInverseKinematics &&)=delete | GlobalInverseKinematics | |
| GlobalInverseKinematics(const MultibodyPlant< double > &plant, const Options &options=Options()) | GlobalInverseKinematics | explicit |
| operator=(const GlobalInverseKinematics &)=delete | GlobalInverseKinematics | |
| operator=(GlobalInverseKinematics &&)=delete | GlobalInverseKinematics | |
| prog() const | GlobalInverseKinematics | |
| ReconstructGeneralizedPositionSolution(const solvers::MathematicalProgramResult &result) const | GlobalInverseKinematics | |
| SetInitialGuess(const Eigen::Ref< const Eigen::VectorXd > &q) | GlobalInverseKinematics | |
| ~GlobalInverseKinematics() | GlobalInverseKinematics |