HierarchicalIK.hpp File Reference

#include <unordered_set>
#include "dart/dynamics/InverseKinematics.hpp"

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Classes
class	dart::dynamics::HierarchicalIK
	The HierarchicalIK class provides a convenient way of setting up a hierarchical inverse kinematics optimization problem which combines several InverseKinematics problems into one. More...
class	dart::dynamics::HierarchicalIK::Function
	This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to. More...
class	dart::dynamics::HierarchicalIK::Objective
	The HierarchicalIK::Objective Function is simply used to merge the objective and null space objective functions that are being held by this HierarchicalIK module. More...
class	dart::dynamics::HierarchicalIK::Constraint
	The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module. More...
class	dart::dynamics::CompositeIK
	The CompositeIK class allows you to specify an arbitrary hierarchy of InverseKinematics modules for a single Skeleton. More...
class	dart::dynamics::WholeBodyIK
	The WholeBodyIK class provides an interface for simultaneously solving all the IK constraints of all BodyNodes and EndEffectors belonging to a single Skeleton. More...

Namespaces
	dart
	dart::dynamics

Typedefs
typedef std::vector< std::vector< std::shared_ptr< InverseKinematics > > >	dart::dynamics::IKHierarchy
	An IKHierarchy is a sorted set of IK modules. More...