Inverse kinematics function for the HyQ robot. More...
#include <inverse_kinematics_hyq4.h>
Inheritance diagram for xpp::InverseKinematicsHyq4:
Public Member Functions | |
| Joints | GetAllJointAngles (const EndeffectorsPos &pos_b) const override |
| Returns joint angles to reach for a specific foot position. More... | |
| int | GetEECount () const override |
| Number of endeffectors (feet, hands) this implementation expects. More... | |
| InverseKinematicsHyq4 ()=default | |
| virtual | ~InverseKinematicsHyq4 ()=default |
 Public Member Functions inherited from xpp::InverseKinematics | |
| InverseKinematics ()=default | |
| virtual | ~InverseKinematics ()=default |
Private Attributes | |
| Vector3d | base2hip_LF_ = Vector3d(0.3735, 0.207, 0.0) |
| HyqlegInverseKinematics | leg |
Additional Inherited Members | |
| Public Types inherited from xpp::InverseKinematics | |
| typedef std::shared_ptr< InverseKinematics > | Ptr |
| typedef Eigen::Vector3d | Vector3d |
Detailed Description
Inverse kinematics function for the HyQ robot.
Definition at line 68 of file inverse_kinematics_hyq4.h.
Constructor & Destructor Documentation
◆ InverseKinematicsHyq4()
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default |
◆ ~InverseKinematicsHyq4()
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virtualdefault |
Member Function Documentation
◆ GetAllJointAngles()
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overridevirtual |
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 65 of file inverse_kinematics_hyq4.cc.
◆ GetEECount()
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inlineoverridevirtual |
Number of endeffectors (feet, hands) this implementation expects.
Implements xpp::InverseKinematics.
Definition at line 109 of file inverse_kinematics_hyq4.h.
Member Data Documentation
◆ base2hip_LF_
Definition at line 112 of file inverse_kinematics_hyq4.h.
◆ leg
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private |
Definition at line 113 of file inverse_kinematics_hyq4.h.
The documentation for this class was generated from the following files: