List of all members | Public Member Functions
NaturalIKProvider Class Reference

#include <RobotAPI/libraries/natik/NaturalIK.h>

+ Inheritance diagram for NaturalIKProvider:

Public Member Functions

 NaturalIKProvider (const NaturalIK &natik, const NaturalIK::ArmJoints &arm, const NaturalDiffIK::Mode &setOri, const NaturalIK::Parameters &params=NaturalIK::Parameters())
 
DiffIKResult SolveAbsolute (const Eigen::Matrix4f &targetPose)
 
DiffIKResult SolveRelative (const Eigen::Matrix4f &targetPose, const Eigen::VectorXf &startJointValues)
 
- Public Member Functions inherited from DiffIKProvider
virtual ~DiffIKProvider ()=default
 

Detailed Description

Definition at line 159 of file NaturalIK.h.

Constructor & Destructor Documentation

◆ NaturalIKProvider()

NaturalIKProvider ( const NaturalIK &  natik,
const NaturalIK::ArmJoints &  arm,
const NaturalDiffIK::Mode &  setOri,
const NaturalIK::Parameters &  params = NaturalIK::Parameters() 
)

Definition at line 256 of file NaturalIK.cpp.

Member Function Documentation

◆ SolveAbsolute()

DiffIKResult SolveAbsolute ( const Eigen::Matrix4f &  targetPose)
virtual

Implements DiffIKProvider.

Definition at line 265 of file NaturalIK.cpp.

◆ SolveRelative()

DiffIKResult SolveRelative ( const Eigen::Matrix4f &  targetPose,
const Eigen::VectorXf &  startJointValues 
)
virtual

Implements DiffIKProvider.

Definition at line 278 of file NaturalIK.cpp.

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