xpp::HyqlegInverseKinematics Class Reference

Converts a hyq foot position to joint angles. More...

#include <hyqleg_inverse_kinematics.h>

Public Types
enum	KneeBend { Forward, Backward }
using	Vector3d = Eigen::Vector3d

Public Member Functions
void	EnforceLimits (double &q, HyqJointID joint) const
	Restricts the joint angles to lie inside the feasible range. More...
Vector3d	GetJointAngles (const Vector3d &ee_pos_H, KneeBend bend=Forward) const
	Returns the joint angles to reach a Cartesian foot position. More...
	HyqlegInverseKinematics ()=default
	Default c'tor initializing leg lengths with standard values. More...
virtual	~HyqlegInverseKinematics ()=default

Private Attributes
Vector3d	hfe_to_haa_z = Vector3d(0.0, 0.0, 0.08)
double	length_shank = 0.33
double	length_thigh = 0.35

Detailed Description

Converts a hyq foot position to joint angles.

Definition at line 42 of file hyqleg_inverse_kinematics.h.

Member Typedef Documentation

using xpp::HyqlegInverseKinematics::Vector3d = Eigen::Vector3d

Definition at line 44 of file hyqleg_inverse_kinematics.h.

Member Enumeration Documentation

enum xpp::HyqlegInverseKinematics::KneeBend

Enumerator
Forward
Backward

Definition at line 45 of file hyqleg_inverse_kinematics.h.

Constructor & Destructor Documentation

xpp::HyqlegInverseKinematics::HyqlegInverseKinematics ( )

default

Default c'tor initializing leg lengths with standard values.

virtual xpp::HyqlegInverseKinematics::~HyqlegInverseKinematics ( )

virtualdefault

Member Function Documentation

void xpp::HyqlegInverseKinematics::EnforceLimits	(	double &	q,
		HyqJointID	joint
	)		const

Restricts the joint angles to lie inside the feasible range.

Parameters

q[in/out]	Current joint angle that is adapted if it exceeds the specified range.
joint	Which joint (HAA, HFE, KFE) this value represents.

Definition at line 119 of file hyqleg_inverse_kinematics.cc.

HyqlegInverseKinematics::Vector3d xpp::HyqlegInverseKinematics::GetJointAngles	(	const Vector3d &	ee_pos_H,
		KneeBend	bend = Forward
	)		const

Returns the joint angles to reach a Cartesian foot position.

Parameters

ee_pos_H

Foot position xyz expressed in the frame attached at the hip-aa (H).

Definition at line 42 of file hyqleg_inverse_kinematics.cc.

Member Data Documentation

Vector3d xpp::HyqlegInverseKinematics::hfe_to_haa_z = Vector3d(0.0, 0.0, 0.08)

private

Definition at line 69 of file hyqleg_inverse_kinematics.h.

double xpp::HyqlegInverseKinematics::length_shank = 0.33

private

Definition at line 71 of file hyqleg_inverse_kinematics.h.

double xpp::HyqlegInverseKinematics::length_thigh = 0.35

private

Definition at line 70 of file hyqleg_inverse_kinematics.h.

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The documentation for this class was generated from the following files:

• hyqleg_inverse_kinematics.h
• hyqleg_inverse_kinematics.cc