A vector field function class defining C(q)=0 for IK. More...

#include <IKFunctions.h>

Inheritance diagram for RobotIKFunction:

Public Member Functions
	RobotIKFunction (RobotKinematics3D &)

void	UseIK (const std::vector< IKGoal > &g)

void	UseIK (const IKGoal &g)

void	UseCOM (const Vector2 &comGoal)

void	Clear ()

void	SetState (const Vector &x) const

void	GetState (Vector &x) const

virtual void	PreEval (const Vector &x)

Public Attributes
RobotKinematics3D &	robot

ArrayMapping	activeDofs

Detailed Description

A vector field function class defining C(q)=0 for IK.

Composes several individual IK functions together using their cartesian product. Add a function to C using the UseX() methods.

Optionally, this can use only a subset of the dimensions of q which might accelerate the computation of Jacobians in the IK iteration. This is done using the activeDofs member, which provides a mapping from q' (the reduced configuration) to q (the full configuration).

Warning: the UseIK functions store POINTERS to IKGoal's, so you must maintain the structures throughout the life of this struct.

The documentation for this struct was generated from the following files:

IKFunctions.h
IKFunctions.cpp

Public Member Functions

Public Attributes

Detailed Description