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. More... | |
| int | GetEECount () const override |
| Number of endeffectors (feet, hands) this implementation expects. More... | |
| InverseKinematicsHyq2 ()=default | |
| virtual | ~InverseKinematicsHyq2 ()=default |
 Public Member Functions inherited from xpp::InverseKinematics | |
| InverseKinematics ()=default | |
| virtual | ~InverseKinematics ()=default |
Private Attributes | |
| 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 for two HyQ legs attached to a brick (base).
Definition at line 42 of file inverse_kinematics_hyq2.h.
Constructor & Destructor Documentation
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default |
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virtualdefault |
Member Function Documentation
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overridevirtual |
Returns joint angles to reach for a specific foot position.
- Parameters
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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.
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inlineoverridevirtual |
Number of endeffectors (feet, hands) this implementation expects.
Implements xpp::InverseKinematics.
Definition at line 56 of file inverse_kinematics_hyq2.h.
Member Data Documentation
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private |
Definition at line 56 of file inverse_kinematics_hyq2.h.
The documentation for this class was generated from the following files: