HEBI C++ API  2.0.1
hebi::robot_model Namespace Reference

Classes

class  CustomObjective
 Allows you to add a custom objective function. More...
 
class  EndEffectorPositionObjective
 
class  EndEffectorSO3Objective
 
class  EndEffectorTipAxisObjective
 
struct  IKResult
 
class  JointLimitConstraint
 
class  Objective
 
class  RobotModel
 Represents a chain or tree of robot elements (rigid bodies and joints). More...
 

Typedefs

using Matrix4dVector = std::vector< Matrix4d, Eigen::aligned_allocator< Eigen::Matrix4d > >
 
using MatrixXdVector = std::vector< MatrixXd, Eigen::aligned_allocator< Eigen::MatrixXd > >
 

Functions

template<size_t T>
void custom_objective_callback_wrapper (void *user_data, size_t num_positions, const double *positions, double *errors)
 C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself. More...
 

Typedef Documentation

◆ Matrix4dVector

using hebi::robot_model::Matrix4dVector = typedef std::vector<Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> >

◆ MatrixXdVector

using hebi::robot_model::MatrixXdVector = typedef std::vector<MatrixXd, Eigen::aligned_allocator<Eigen::MatrixXd> >

Function Documentation

◆ custom_objective_callback_wrapper()

template<size_t T>
void hebi::robot_model::custom_objective_callback_wrapper ( void *  user_data,
size_t  num_positions,
const double *  positions,
double *  errors 
)
inline

C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself.

INTERNAL This is forward declared here so it can be used in the CustomObjective class below.

INTERNAL