BipedalLocomotion::IK::IKLinearTask struct

IKLinearTask 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.