struct
IKLinearTaskIKLinearTask specializes a LinearTask in the case of Inverse Kinematics.
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 JointVelocityLimitsTask
- JointVelocityLimitsTask 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
bool BipedalLocomotion:: IK:: IKLinearTask:: setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) virtual
Set the kinDynComputations object.
Parameters | |
---|---|
kinDyn | pointer to a kinDynComputations object. |
Returns | True in case of success, false otherwise. |