.. _file_include_roboplan_oink_optimal_ik.hpp:

File optimal_ik.hpp
===================

|exhale_lsh| :ref:`Parent directory <dir_include_roboplan_oink>` (``include/roboplan_oink``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/roboplan_oink/optimal_ik.hpp``)
-----------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_roboplan_oink_optimal_ik.hpp.rst





Includes
--------


- ``OsqpEigen/OsqpEigen.h``

- ``memory``

- ``roboplan/core/scene.hpp``

- ``roboplan/core/types.hpp``

- ``string``

- ``tl/expected.hpp``



Included By
-----------


- :ref:`file_include_roboplan_oink_barriers_position_barrier.hpp`

- :ref:`file_include_roboplan_oink_constraints_position_limit.hpp`

- :ref:`file_include_roboplan_oink_constraints_velocity_limit.hpp`

- :ref:`file_include_roboplan_oink_tasks_configuration.hpp`

- :ref:`file_include_roboplan_oink_tasks_frame.hpp`




Namespaces
----------


- :ref:`namespace_roboplan`


Classes
-------


- :ref:`exhale_struct_structroboplan_1_1Barrier`

- :ref:`exhale_struct_structroboplan_1_1Constraints`

- :ref:`exhale_struct_structroboplan_1_1Oink`

- :ref:`exhale_struct_structroboplan_1_1Task`