InverseKinematics.hpp File Reference

#include <functional>
#include <memory>
#include <Eigen/SVD>
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/sub_ptr.hpp"
#include "dart/dynamics/JacobianNode.hpp"
#include "dart/dynamics/SmartPointer.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/optimizer/Function.hpp"
#include "dart/optimizer/Problem.hpp"
#include "dart/optimizer/Solver.hpp"
#include "dart/dynamics/detail/InverseKinematics.hpp"

Go to the source code of this file.

Classes
class	dart::dynamics::InverseKinematics
	The InverseKinematics class provides a convenient way of setting up an IK optimization problem. More...
class	dart::dynamics::InverseKinematics::Function
	This class should be inherited by optimizer::Function classes that have a dependency on the InverseKinematics module that they belong to. More...
class	dart::dynamics::InverseKinematics::ErrorMethod
	ErrorMethod is a base class for different ways of computing the error of an InverseKinematics module. More...
struct	dart::dynamics::InverseKinematics::ErrorMethod::Properties
	The Properties struct contains settings that are commonly used by methods that compute error for inverse kinematics. More...
class	dart::dynamics::InverseKinematics::TaskSpaceRegion
	The TaskSpaceRegion is a nicely generalized method for computing the error of an IK Problem. More...
struct	dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties
struct	dart::dynamics::InverseKinematics::TaskSpaceRegion::Properties
class	dart::dynamics::InverseKinematics::GradientMethod
	GradientMethod is a base class for different ways of computing the gradient of an InverseKinematics module. More...
struct	dart::dynamics::InverseKinematics::GradientMethod::Properties
class	dart::dynamics::InverseKinematics::JacobianDLS
	JacobianDLS refers to the Damped Least Squares Jacobian Pseudoinverse (specifically, Moore-Penrose Pseudoinverse). More...
struct	dart::dynamics::InverseKinematics::JacobianDLS::UniqueProperties
struct	dart::dynamics::InverseKinematics::JacobianDLS::Properties
class	dart::dynamics::InverseKinematics::JacobianTranspose
	JacobianTranspose will simply apply the transpose of the Jacobian to the error vector in order to compute the gradient. More...
class	dart::dynamics::InverseKinematics::Analytical
	Analytical is a base class that should be inherited by methods that are made to solve the IK analytically instead of iteratively. More...
struct	dart::dynamics::InverseKinematics::Analytical::Solution
struct	dart::dynamics::InverseKinematics::Analytical::UniqueProperties
struct	dart::dynamics::InverseKinematics::Analytical::Properties
class	dart::dynamics::InverseKinematics::Objective
	The InverseKinematics::Objective Function is simply used to merge the objective and null space objective functions that are being held by an InverseKinematics module. More...
class	dart::dynamics::InverseKinematics::Constraint
	The InverseKinematics::Constraint Function is simply meant to be used to merge the ErrorMethod and GradientMethod that are being held by an InverseKinematics module. More...

Namespaces
namespace	dart
namespace	dart::dynamics

Typedefs
typedef InverseKinematics	dart::dynamics::IK

Variables
const double	dart::dynamics::DefaultIKTolerance = 1e-6
const double	dart::dynamics::DefaultIKErrorClamp = 1.0
const double	dart::dynamics::DefaultIKGradientComponentClamp = 0.2
const double	dart::dynamics::DefaultIKGradientComponentWeight = 1.0
const double	dart::dynamics::DefaultIKDLSCoefficient = 0.05
const double	dart::dynamics::DefaultIKAngularWeight = 0.4
const double	dart::dynamics::DefaultIKLinearWeight = 1.0