rbd::InverseKinematics Class Reference

#include <RBDyn/RBDyn/IK.h>

Public Member Functions
	InverseKinematics (const MultiBody &mb, int ef_index)
bool	inverseKinematics (const MultiBody &mb, MultiBodyConfig &mbc, const sva::PTransformd &ef_target)
bool	sInverseKinematics (const MultiBody &mb, MultiBodyConfig &mbc, const sva::PTransformd &ef_target)

Public Attributes
int	max_iterations_
	Find q that minimizes the distance between ef and ef_target. More...
double	lambda_
double	threshold_
double	almost_zero_

Detailed Description

Inverse Kinematics algorithm.

Constructor & Destructor Documentation

InverseKinematics()

rbd::InverseKinematics::InverseKinematics	(	const MultiBody &	mb,
		int	ef_index
	)

Parameters

mb	MultiBody associated with this algorithm.

Member Function Documentation

inverseKinematics()

bool rbd::InverseKinematics::inverseKinematics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		const sva::PTransformd &	ef_target
	)

Compute the inverse kinematics.

Parameters

mb	MultiBody used has model.
mbc	Use q generalized position vector

Returns

bool if computation has converged Fill q with new generalized position, update bodyPosW, jointConfig and parentToSon. All computations are done in-place : even if computation does not converge, mbc will be modified.

sInverseKinematics()

bool rbd::InverseKinematics::sInverseKinematics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		const sva::PTransformd &	ef_target
	)

safe version of

See also

inverseKinematics.

Exceptions

std::domain_error

If mb doesn't match mbc.

Member Data Documentation

almost_zero_

double rbd::InverseKinematics::almost_zero_

lambda_

double rbd::InverseKinematics::lambda_

max_iterations_

int rbd::InverseKinematics::max_iterations_

Find q that minimizes the distance between ef and ef_target.

Returns

Bool if convergence has been reached

threshold_

double rbd::InverseKinematics::threshold_

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The documentation for this class was generated from the following file:

• src/RBDyn/RBDyn/IK.h