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Classes
iKinIpOpt

Classes for inverse kinematics of serial-links chains and iCub limbs based on IpOpt. More...

+ Collaboration diagram for iKinIpOpt:

Classes

class  iCub::iKin::iKinIterateCallback
 Class for defining iteration callback. More...
 
class  iCub::iKin::iKinLinIneqConstr
 Class for defining Linear Inequality Constraints of the form lB <= C*q <= uB for the nonlinear problem NLP. More...
 
class  iCub::iKin::iCubAdditionalArmConstraints
 Class for dealing with additional iCub arm's constraints. More...
 
class  iCub::iKin::iKinIpOptMin
 Class for inverting chain's kinematics based on IpOpt lib. More...
 

Detailed Description

Classes for inverse kinematics of serial-links chains and iCub limbs based on IpOpt.

Date: first release 23/06/2008

Author
Ugo Pattacini