iDynTree/InverseKinematics.h file

Classes

class iDynTree::InverseKinematics: NLP-based Inverse kinematics.

Enums

enum InverseKinematicsRotationParametrization { InverseKinematicsRotationParametrizationQuaternion, InverseKinematicsRotationParametrizationRollPitchYaw }: type of parametrization for the rotation (SO3) element
enum InverseKinematicsTreatTargetAsConstraint { InverseKinematicsTreatTargetAsConstraintNone = 0, InverseKinematicsTreatTargetAsConstraintPositionOnly = 1, InverseKinematicsTreatTargetAsConstraintRotationOnly = 1 << 1, InverseKinematicsTreatTargetAsConstraintFull = InverseKinematicsTreatTargetAsConstraintPositionOnly | InverseKinematicsTreatTargetAsConstraintRotationOnly }: Specify how to solve for the desired target.

Functions

auto sizeOfRotationParametrization(enum InverseKinematicsRotationParametrization rotationParametrization) -> int

Enum documentation

enum InverseKinematicsRotationParametrization

type of parametrization for the rotation (SO3) element

Enumerators
InverseKinematicsRotationParametrizationQuaternion	Quaternion parametrization. In theory this parametrization does not suffer from discontinuity like the, InverseKinematicsRotationParametrizationRollPitchYaw one, but the existing implementation does not work as expected, and so its use is discouraged. See https://github.com/robotology/idyntree/issues/1059 for more details.
InverseKinematicsRotationParametrizationRollPitchYaw	Roll Pitch Yaw parametrization. This parametrization is the one used by default, but it may not work properly near the points in which the parametrization has discontinuities.

Enumerators

InverseKinematicsRotationParametrizationQuaternion

Quaternion parametrization.

In theory this parametrization does not suffer from discontinuity like the, InverseKinematicsRotationParametrizationRollPitchYaw one, but the existing implementation does not work as expected, and so its use is discouraged. See https://github.com/robotology/idyntree/issues/1059 for more details.

InverseKinematicsRotationParametrizationRollPitchYaw

Roll Pitch Yaw parametrization.

This parametrization is the one used by default, but it may not work properly near the points in which the parametrization has discontinuities.

enum InverseKinematicsTreatTargetAsConstraint

Specify how to solve for the desired target.

A target frame can be solved as a constraints (i.e. if it cannot be obtained the problem is unfeasible) or as a cost (best-effort to reach the target)