Inverse kinematics function for the HyQ robot. More...
#include <inverse_kinematics_hyq4.h>
Inheritance diagram for xpp::InverseKinematicsHyq4:
Public Member Functions | |
| Joints | GetAllJointAngles (const EndeffectorsPos &pos_b) const override |
| Returns joint angles to reach for a specific foot position. | |
| int | GetEECount () const override |
| Number of endeffectors (feet, hands) this implementation expects. | |
| InverseKinematicsHyq4 () | |
| virtual | ~InverseKinematicsHyq4 () |
Private Attributes | |
| Vector3d | base2hip_LF_ = Vector3d(0.3735, 0.207, 0.0) |
| HyqlegInverseKinematics | leg |
Detailed Description
Inverse kinematics function for the HyQ robot.
Definition at line 41 of file inverse_kinematics_hyq4.h.
Constructor & Destructor Documentation
| virtual xpp::InverseKinematicsHyq4::~InverseKinematicsHyq4 | ( | ) | [virtual] |
Member Function Documentation
| Joints xpp::InverseKinematicsHyq4::GetAllJointAngles | ( | const EndeffectorsPos & | pos_b | ) | const [override, virtual] |
Returns joint angles to reach for a specific foot position.
- Parameters:
-
pos_B 3D-position of the foot expressed in the base frame (B).
Implements xpp::InverseKinematics.
Definition at line 38 of file inverse_kinematics_hyq4.cc.
| int xpp::InverseKinematicsHyq4::GetEECount | ( | ) | const [inline, override, virtual] |
Number of endeffectors (feet, hands) this implementation expects.
Implements xpp::InverseKinematics.
Definition at line 55 of file inverse_kinematics_hyq4.h.
Member Data Documentation
Vector3d xpp::InverseKinematicsHyq4::base2hip_LF_ = Vector3d(0.3735, 0.207, 0.0) [private] |
Definition at line 58 of file inverse_kinematics_hyq4.h.
Definition at line 59 of file inverse_kinematics_hyq4.h.
The documentation for this class was generated from the following files: