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 JointVelocityLimitsTask

JointVelocityLimitsTask 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(JointVelocityLimitsTask)

BLF_REGISTER_IK_TASK(R3Task)

BLF_REGISTER_IK_TASK(SE3Task)

BLF_REGISTER_IK_TASK(SO3Task)