inverse.cpp File Reference
#include "kbm.h"
#include <cmath>
#include <assert.h>
#include <queue>
#include <boost/multi_array.hpp>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+ Include dependency graph for inverse.cpp:

Go to the source code of this file.


 VirtualRobot headers.
 Namespace for algorithms related to solving the inverse kinematics.
 Where the model representation for a Body Schema (especially the Kinematic B´ezier Maps) reside.


bool operator< (const GraphNode &left, const GraphNode &right)
SolutionSet solveGlobalIK (KBM::Models::KBM_ptr kbm, const Vector &lower, const Vector &upper, Real resolution=M_PI/90.0f)
 Algorithm to find the global solution to the inverse kinematics based on the KBM structure. More...
SolutionSet solveGlobalIK (Models::KBM_ptr kbm, const Vector &target, Real resolution)
void solveGlobalIK (unsigned int recursion, int side, SolutionSet &solutionSet, Models::KBM_ptr kbm, const Vector &lower, const Vector &upper, Real resolution, Vector spreadAngles, Vector center)