Inverse Kinematics for two HyQ legs attached to a brick (base). More...
#include <inverse_kinematics_hyq2.h>
Inheritance diagram for xpp::InverseKinematicsHyq2:
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. | |
| InverseKinematicsHyq2 () | |
| virtual | ~InverseKinematicsHyq2 () |
Private Attributes | |
| HyqlegInverseKinematics | leg |
Detailed Description
Inverse Kinematics for two HyQ legs attached to a brick (base).
Definition at line 42 of file inverse_kinematics_hyq2.h.
Constructor & Destructor Documentation
| virtual xpp::InverseKinematicsHyq2::~InverseKinematicsHyq2 | ( | ) | [virtual] |
Member Function Documentation
| Joints xpp::InverseKinematicsHyq2::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 41 of file inverse_kinematics_hyq2.cc.
| int xpp::InverseKinematicsHyq2::GetEECount | ( | ) | const [inline, override, virtual] |
Number of endeffectors (feet, hands) this implementation expects.
Implements xpp::InverseKinematics.
Definition at line 56 of file inverse_kinematics_hyq2.h.
Member Data Documentation
Definition at line 56 of file inverse_kinematics_hyq2.h.
The documentation for this class was generated from the following files: