Classes | Defines | Variables
ik.h File Reference

Inverse kinematics (UTPoser) class. More...

#include <chain.h>
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Classes

class  IK
 Main class for inverse kinematic computation. More...
class  IKCom
 Center of mass position. More...
class  IKConstraint
 Base class for constraints. More...
class  IKDesire
 Desired joint values. More...
class  IKHandle
 Position constraint. More...
class  IKScalarJointLimit
 Joint limit constraint for 1-DOF joints. More...

Defines

#define MAX_CONDITION_NUMBER   100.0
#define MIN_JOINT_WEIGHT   0.01

Variables

static const char joint_name_separator = '_'

Detailed Description

Inverse kinematics (UTPoser) class.

Author:
Katsu Yamane
Date:
07/10/2003

Definition in file ik.h.


Define Documentation

#define MAX_CONDITION_NUMBER   100.0

Definition at line 29 of file ik.h.

#define MIN_JOINT_WEIGHT   0.01

Definition at line 27 of file ik.h.


Variable Documentation

const char joint_name_separator = '_' [static]

Definition at line 31 of file ik.h.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:20