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

Constructor & Destructor Documentation

NaturalIKProvider()

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

Member Function Documentation

SolveAbsolute()

DiffIKResult SolveAbsolute ( const Eigen::Matrix4f & targetPose )

virtual

Implements DiffIKProvider.

SolveRelative()

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

virtual

Implements DiffIKProvider.

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

• RobotAPI/libraries/natik/NaturalIK.h
• RobotAPI/libraries/natik/NaturalIK.cpp