InverseKinematicsExampleExpressions.cpp File Reference

Implement inverse kinematics on a three-link arm using expressions. More...

#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/ExpressionFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/expressions.h>
#include <cmath>

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Functions
Pose2_	Expmap (const Vector3_ &xi)
int	main (int argc, char **argv)
Vector3_	operator* (const Double_ &s, const Vector3_ &v)
Vector3	scalarMultiply (const double &s, const Vector3 &v, OptionalJacobian< 3, 1 > Hs, OptionalJacobian< 3, 3 > Hv)

Detailed Description

Implement inverse kinematics on a three-link arm using expressions.

Date

April 15, 2019

Author

Frank Dellaert

Definition in file InverseKinematicsExampleExpressions.cpp.

Function Documentation

Expmap()

Pose2_ Expmap ( const Vector3_ &  xi )

inline

Definition at line 47 of file InverseKinematicsExampleExpressions.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 50 of file InverseKinematicsExampleExpressions.cpp.

operator*()

Vector3_ operator* ( const Double_ &  s, const Vector3_ &  v  )

inline

Definition at line 42 of file InverseKinematicsExampleExpressions.cpp.

scalarMultiply()

Vector3 scalarMultiply ( const double &  s, const Vector3 &  v, OptionalJacobian< 3, 1 >  Hs, OptionalJacobian< 3, 3 >  Hv  )

inline

Definition at line 33 of file InverseKinematicsExampleExpressions.cpp.