cnoid::InverseKinematics Class Reference

#include <InverseKinematics.h>

Inheritance diagram for cnoid::InverseKinematics:

Public Types
enum	AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }

Public Member Functions
virtual	~InverseKinematics ()
virtual AxisSet	axisType () const
virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)=0

Member Enumeration Documentation

AxisSet

enum cnoid::InverseKinematics::AxisSet

Enumerator
NO_AXES
TRANSLATION_3D
ROTATION_3D
TRANSFORM_6D

Constructor & Destructor Documentation

~InverseKinematics()

virtual cnoid::InverseKinematics::~InverseKinematics ( )

inlinevirtual

Member Function Documentation

axisType()

virtual AxisSet cnoid::InverseKinematics::axisType ( ) const

inlinevirtual

calcInverseKinematics()

virtual bool cnoid::InverseKinematics::calcInverseKinematics ( const Vector3 &  end_p, const Matrix3 &  end_R  )

pure virtual

Todo:

This should be "bool calcInverseKinematics(const Position& T) = 0

Implemented in cnoid::JointPath, cnoid::PinDragIK, and cnoid::CompositeIK.

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

• InverseKinematics.h