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.

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