BipedalLocomotion::IK namespace

Classes

class AngularMomentumTask
AngularMomentumTask is a concrete implementation of the Task.
class CoMTask
SE3Task is a concrete implementation of the Task.
class DistanceTask
The DistanceTask class controls the distance of a frame with respect the world origin, or another frame.
class GravityTask
The GravityTask class aligns the z axis of a frame to a desired gravity direction.
struct IKLinearTask
IKLinearTask specializes a LinearTask in the case of Inverse Kinematics.
struct IntegrationBasedIKState
State of the IntegrationBasedIK.
class IntegrationBasedIK
IntegrationBasedIK implements the interface for the integration base inverse kinematics.
struct IntegrationBasedIKProblem
IntegrationBasedIKProblem store all the ingredients to run an modfy at runtime an Integration based inverse kinematics problem.
class JointLimitsTask
JointLimitsTask is a concrete implementation of the Task.
class JointTrackingTask
JointsTrackingTask is a concrete implementation of the Task.
class QPFixedBaseInverseKinematics
QPFixedBaseInverseKinematics is specialization of QPInverseKinematics class in the case of fixed base system.
class QPInverseKinematics
QPInverseKinematics is a concrete class and implements an integration base inverse kinematics.
class R3Task
R3Task is a concrete implementation of the Task.
class SE3Task
SE3Task is a concrete implementation of the Task.
class SO3Task
SO3Task is a concrete implementation of the IK::Task.

Typedefs

using IKLinearTaskFactory = ::BipedalLocomotion::System::ILinearTaskFactory<IKLinearTask>

Functions

BLF_REGISTER_IK_TASK(AngularMomentumTask)
BLF_REGISTER_IK_TASK(CoMTask)
BLF_REGISTER_IK_TASK(DistanceTask)
BLF_REGISTER_IK_TASK(GravityTask)
BLF_REGISTER_IK_TASK(JointLimitsTask)
BLF_REGISTER_IK_TASK(JointTrackingTask)
BLF_REGISTER_IK_TASK(R3Task)
BLF_REGISTER_IK_TASK(SE3Task)
BLF_REGISTER_IK_TASK(SO3Task)