Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs. More...
Collaboration diagram for iKin:
Modules | |
| iKinFwd | |
| <> | |
| iKinHlp | |
| Helper class to deal with Cartesian Solver options. | |
| iKinInv | |
| Classes for inverse kinematics of serial-links chains and iCub limbs. | |
| iKinIpOpt | |
| Classes for inverse kinematics of serial-links chains and iCub limbs based on IpOpt. | |
| iKinSlv | |
| Classes for on-line solution of inverse kinematic of iCub limbs based on IpOpt. | |
Detailed Description
Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs.
- Note
- SI units adopted: meters for lengths and radians for angles.
Dependencies
- ctrlLib
- IPOPT: see the wiki.
- Note
- If you're going to use iKin for your work, please quote it within any resulting publication: Pattacini U., Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub, Ph.D. Dissertation, RBCS, Istituto Italiano di Tecnologia, 2011.
