Converts Cartesian endeffector positions into joint angles. More...

#include <inverse_kinematics.h>

Public Types
using	Ptr = std::shared_ptr< InverseKinematics >

using	Vector3d = Eigen::Vector3d

Public Member Functions
virtual Joints	GetAllJointAngles (const EndeffectorsPos &pos_b) const =0
	Calculates the joint angles to reach a position @ pos_b. More...

virtual int	GetEECount () const =0
	Number of endeffectors (feet, hands) this implementation expects. More...

	InverseKinematics ()=default

virtual	~InverseKinematics ()=default

Detailed Description

Converts Cartesian endeffector positions into joint angles.

This class is responsible for calculating the joint angles of a robot given an endeffector position (=inverse kinematics). Base class that every inverse dynamics class must conform with.

Definition at line 48 of file inverse_kinematics.h.

Member Typedef Documentation

◆ Ptr

using xpp::InverseKinematics::Ptr = std::shared_ptr<InverseKinematics>

Definition at line 50 of file inverse_kinematics.h.

◆ Vector3d

using xpp::InverseKinematics::Vector3d = Eigen::Vector3d

Definition at line 51 of file inverse_kinematics.h.

Constructor & Destructor Documentation

◆ InverseKinematics()

xpp::InverseKinematics::InverseKinematics ( )

default

◆ ~InverseKinematics()

virtual xpp::InverseKinematics::~InverseKinematics ( )

virtualdefault

Member Function Documentation

◆ GetAllJointAngles()

virtual Joints xpp::InverseKinematics::GetAllJointAngles ( const EndeffectorsPos & pos_b ) const

pure virtual

Calculates the joint angles to reach a position @ pos_b.

Parameters

pos_b 3D-position of the endeffector expressed in base frame.

Returns: Joints angles of the robot.

◆ GetEECount()

virtual int xpp::InverseKinematics::GetEECount ( ) const