momentumopt
Public Member Functions | List of all members
momentumopt::PyKinematicsInterface Class Reference
Inheritance diagram for momentumopt::PyKinematicsInterface:
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Collaboration diagram for momentumopt::PyKinematicsInterface:
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Public Member Functions

void initialize (PlannerSetting &planner_setting) override
 
void displayPosture (const KinematicsState &kin_state, double time_step) override
 
KinematicsState updateJacobiansAndState (KinematicsState &kin_state, double dt) override
 
KinematicsState integratePosture (KinematicsState &kin_state, double dt) override
 
KinematicsState differentiatePostures (KinematicsState &start_state, KinematicsState &end_state, double timestep) override
 
Eigen::Vector3d logarithmicMap (const Eigen::Vector4d quat_wxyz) override
 
- Public Member Functions inherited from momentumopt::KinematicsInterface
Eigen::MatrixXd & centerOfMassJacobian ()
 
Eigen::MatrixXd & centroidalMomentumMatrix ()
 
const Eigen::MatrixXd & centerOfMassJacobian () const
 
const Eigen::MatrixXd & centroidalMomentumMatrix () const
 
void centerOfMassJacobian (const Eigen::MatrixXd &center_of_mass_jacobian)
 
void centroidalMomentumMatrix (const Eigen::MatrixXd &centroidal_mometum_matrix)
 
Eigen::MatrixXd & centroidalMomentumMatrixVariation ()
 
const Eigen::MatrixXd & centroidalMomentumMatrixVariation () const
 
void centroidalMomentumMatrixVariation (const Eigen::MatrixXd &centroidal_momentum_matrix_variation)
 
Eigen::MatrixXd & endeffectorJacobian (int eff_id)
 
const std::vector< Eigen::MatrixXd > & endeffectorJacobians () const
 
const Eigen::MatrixXd & endeffectorJacobian (int eff_id) const
 
void endeffectorJacobians (const std::vector< Eigen::MatrixXd > &endeffector_jacobians)
 
const Eigen::VectorXd & constraintsVector () const
 
const Eigen::MatrixXd & constraintsMatrix () const
 
void constraintsVector (const Eigen::VectorXd &constraints_vector)
 
void constraintsMatrix (const Eigen::MatrixXd &constraints_matrix)
 
The documentation for this class was generated from the following file: