BipedalLocomotion::IK::IKLinearTask struct

#include <BipedalLocomotion/IK/IKLinearTask.h>

Base classes

class BipedalLocomotion::System::LinearTask

LinearTask describes a Linear Task element.

Derived 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.

class JointLimitsTask

JointLimitsTask is a concrete implementation of the Task.

class JointTrackingTask

JointsTrackingTask is a concrete implementation of the Task.

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.

Constructors, destructors, conversion operators

~IKLinearTask() defaulted virtual

Public functions

auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool virtual

Set the kinDynComputations object.

Function documentation