scene_kin.h File Reference

Scenegraph kinematics. More...

#include "scenegraph.h"

Go to the source code of this file.

Typedefs
typedef int	aa_rx_ik_fun (void *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q)
	General type for an IK solver function.

Functions
AA_API struct aa_rx_ksol_opts *	aa_rx_ksol_opts_create ()
AA_API void	aa_rx_ksol_opts_destroy (struct aa_rx_ksol_opts *opts)
AA_API void	aa_rx_ksol_opts_set_dt (struct aa_rx_ksol_opts *opts, double dt)
AA_API void	aa_rx_ksol_opts_set_tol_angle (struct aa_rx_ksol_opts *opts, double tol)
AA_API void	aa_rx_ksol_opts_set_tol_trans (struct aa_rx_ksol_opts *opts, double tol)
AA_API void	aa_rx_ksol_opts_set_tol_angle_svd (struct aa_rx_ksol_opts *opts, double tol)
AA_API void	aa_rx_ksol_opts_set_tol_trans_svd (struct aa_rx_ksol_opts *opts, double tol)
AA_API void	aa_rx_ksol_opts_set_tol_dq (struct aa_rx_ksol_opts *opts, double tol)
AA_API void	aa_rx_ksol_opts_set_tol_k_dls (struct aa_rx_ksol_opts *opts, double s2min)
AA_API void	aa_rx_ksol_opts_set_tol_s2min (struct aa_rx_ksol_opts *opts, double s2min)
AA_API void	aa_rx_ksol_opts_set_gain_angle (struct aa_rx_ksol_opts *opts, double k)
AA_API void	aa_rx_ksol_opts_set_gain_trans (struct aa_rx_ksol_opts *opts, double k)
AA_API void	aa_rx_ksol_opts_set_max_iterations (struct aa_rx_ksol_opts *opts, size_t n)
AA_API void	aa_rx_ksol_opts_set_frame (struct aa_rx_ksol_opts *opts, aa_rx_frame_id frame)
AA_API void	aa_rx_ksol_opts_take_config (struct aa_rx_ksol_opts *opts, size_t n_q, double *q, enum aa_mem_refop refop)
AA_API void	aa_rx_ksol_opts_take_gain_config (struct aa_rx_ksol_opts *opts, size_t n_q, double *q, enum aa_mem_refop refop)
AA_API void	aa_rx_ksol_opts_take_seed (struct aa_rx_ksol_opts *opts, size_t n_q, double *q_all, enum aa_mem_refop refop)
AA_API void	aa_rx_ksol_opts_center_seed (struct aa_rx_ksol_opts *opts, const struct aa_rx_sg_sub *ssg)
AA_API void	aa_rx_ksol_opts_center_configs (struct aa_rx_ksol_opts *opts, const struct aa_rx_sg_sub *ssg, double gain)
	Convenience function to set IK options to center joints.
AA_API struct aa_rx_ik_jac_cx *	aa_rx_ik_jac_cx_create (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ksol_opts *opts)
AA_API void	aa_rx_ik_jac_cx_destroy (struct aa_rx_ik_jac_cx *cx)
AA_API int	aa_rx_ik_jac_solve (const struct aa_rx_ik_jac_cx *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q)
AA_API int	aa_rx_ik_jac_fun (void *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q)

Detailed Description

Scenegraph kinematics.

Definition in file scene_kin.h.