Public Member Functions | Private Attributes
xpp::InverseKinematicsHyq2 Class Reference

Inverse Kinematics for two HyQ legs attached to a brick (base). More...

#include <inverse_kinematics_hyq2.h>

Inheritance diagram for xpp::InverseKinematicsHyq2:
Inheritance graph
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List of all members.

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


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_B3D-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:


xpp_hyq
Author(s): Alexander W. Winkler, Diego Pardo. , Carlos Mastalli , Ioannis Havoutis
autogenerated on Fri Apr 5 2019 02:55:54