BipedalLocomotion::IK::IntegrationBasedIKProblem struct
#include <BipedalLocomotion/IK/IntegrationBasedIK.h>

IntegrationBasedIKProblem store all the ingredients to run an modfy at runtime an Integration based inverse kinematics problem.

Public functions

auto isValid() const -> bool
Check if the problem is valid.
template<std::size_t index>
auto get() -> std::tuple_element_t<index, IntegrationBasedIKProblem>&
Get the element of the problem from a given index.

Public variables

System::VariablesHandler variablesHandler
Container of the variables considered by the IK problem.
std::unordered_map<std::string, std::shared_ptr<System::WeightProvider>> weights
Map containing the weight associated to each task stored considering the task name.
std::unique_ptr<IntegrationBasedIK> ik
Pointer to the IK solver.

Function documentation

bool BipedalLocomotion::IK::IntegrationBasedIKProblem::isValid() const

Check if the problem is valid.

Returns true if the problem is valid.

template<std::size_t index>
std::tuple_element_t<index, IntegrationBasedIKProblem>& BipedalLocomotion::IK::IntegrationBasedIKProblem::get()

Get the element of the problem from a given index.

Template parameters
index a positive number from 0 to 2.