Classes for inverse kinematics of serial-links chains and iCub limbs. More...
Collaboration diagram for iKinInv:
Classes | |
| class | iCub::iKin::iKinCtrl |
| Abstract class for inverting chain's kinematics. More... | |
| class | iCub::iKin::SteepCtrl |
| A class derived from iKinCtrl implementing two standard algorithms based on steepest descent qdot=-Kp*grad. More... | |
| class | iCub::iKin::VarKpSteepCtrl |
| A class derived from SteepCtrl implementing the variable gain algorithm. More... | |
| class | iCub::iKin::LMCtrl |
| A class derived from iKinCtrl implementing the Levenberg-Marquardt algorithm: More... | |
| class | iCub::iKin::LMCtrl_GPM |
| A class derived from LMCtrl implementing the Gradient Projection Method according to the paper available here. More... | |
| class | iCub::iKin::MultiRefMinJerkCtrl |
| A class derived from iKinCtrl implementing the multi-referential approach. More... | |
Detailed Description
Classes for inverse kinematics of serial-links chains and iCub limbs.
Date: first release 16/06/2008
