inverse_kinematics_hyq1.cc
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00001 /******************************************************************************
00002 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
00003 
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00016   this software without specific prior written permission.
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <xpp_hyq/inverse_kinematics_hyq1.h>
00031 
00032 #include <cmath>
00033 #include <iostream>
00034 
00035 namespace xpp {
00036 
00037 Joints
00038 InverseKinematicsHyq1::GetAllJointAngles(const EndeffectorsPos& x_B) const
00039 {
00040   Eigen::Vector3d offset_base_to_hip(0.0, 0.0, 0.15);
00041   Eigen::VectorXd q0 = leg.GetJointAngles(x_B.at(0) + offset_base_to_hip);
00042 
00043   return Joints({q0});
00044 }
00045 
00046 
00047 } /* namespace xpp */
00048 
00049 


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