inverse_kinematics_hyq1.cc
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29 
31 
32 #include <cmath>
33 #include <iostream>
34 
35 namespace xpp {
36 
37 Joints
39 {
40  Eigen::Vector3d offset_base_to_hip(0.0, 0.0, 0.15);
41  Eigen::VectorXd q0 = leg.GetJointAngles(x_B.at(0) + offset_base_to_hip);
42 
43  return Joints({q0});
44 }
45 
46 
47 } /* namespace xpp */
48 
49 
T & at(EndeffectorID ee)
Joints GetAllJointAngles(const EndeffectorsPos &pos_B) const override
Returns joint angles to reach for a specific foot position.
Vector3d GetJointAngles(const Vector3d &ee_pos_H, KneeBend bend=Forward) const
Returns the joint angles to reach a Cartesian foot position.


xpp_hyq
Author(s): Alexander W. Winkler, Diego Pardo. , Carlos Mastalli , Ioannis Havoutis
autogenerated on Sun Apr 7 2019 02:34:53