#include <IKNLPSolverIpopt.h>

Inheritance diagram for ct::rbd::IKNLPSolverIpopt< IKNLP, VALIDATION_KIN >:

Public Types
using	KINEMATICS = typename IKNLP::Kinematics_t

using	SCALAR = typename IKNLP::Scalar_t

using	InverseKinematicsBase = ct::rbd::InverseKinematicsBase< KINEMATICS::NJOINTS, SCALAR >

using	JointPosition_t = typename InverseKinematicsBase::JointPosition_t

using	JointPositionsVector_t = typename InverseKinematicsBase::JointPositionsVector_t

using	RigidBodyPoseTpl = typename InverseKinematicsBase::RigidBodyPoseTpl

Public Types inherited from ct::rbd::InverseKinematicsBase< IKNLP::Kinematics_t::NJOINTS, IKNLP::Scalar_t >
using	JointPosition_t = typename JointState< NJOINTS, IKNLP::Scalar_t >::Position

using	JointPositionsVector_t = std::vector< JointPosition_t, Eigen::aligned_allocator< JointPosition_t > >

using	RigidBodyPoseTpl = tpl::RigidBodyPose< IKNLP::Scalar_t >

Public Member Functions
	IKNLPSolverIpopt ()

	IKNLPSolverIpopt (std::shared_ptr< IKNLP > iknlp, ct::optcon::NlpSolverSettings nlpSolverSettings, const size_t eeInd=0)
	constructor More...

	IKNLPSolverIpopt (std::shared_ptr< IKNLP > iknlp, ct::optcon::NlpSolverSettings nlpSolverSettings, const ct::rbd::InverseKinematicsSettings &ikSettings, const size_t eeInd=0)
	constructor with additional inverse kinematics settings More...

void	setInitialGuess (const JointPosition_t &q_init)

bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &ee_W_base, const std::vector< size_t > &freeJoints=std::vector< size_t >()) override

bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const std::vector< size_t > &freeJoints) override

Public Member Functions inherited from ct::rbd::InverseKinematicsBase< IKNLP::Kinematics_t::NJOINTS, IKNLP::Scalar_t >
	InverseKinematicsBase ()=default
	default constructor More...

	InverseKinematicsBase (const InverseKinematicsSettings &settings)
	constructor with additional settings More...

virtual	~InverseKinematicsBase ()=default
	default destructor More...

virtual bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &eeBasePose, const std::vector< size_t > &freeJoints)=0
	compute inverse kinematics for an end-effector w.r.t robot base More...

virtual bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const std::vector< size_t > &freeJoints)=0
	compute inverse kinematics for an end-effector More...

virtual bool	computeInverseKinematicsCloseTo (JointPosition_t &ikSolution, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const JointPosition_t &queryJointPositions, const std::vector< size_t > &freeJoints=std::vector< size_t >())
	compute inverse kinematics for an end-effector More...

virtual bool	computeInverseKinematicsCloseTo (JointPosition_t &ikSolution, const RigidBodyPoseTpl &eeBasePose, const JointPosition_t &queryJointPositions, const std::vector< size_t > &freeJoints=std::vector< size_t >())
	compute inverse kinematics for an end-effector More...

const InverseKinematicsSettings &	getSettings () const

void	updateSettings (const InverseKinematicsSettings &settings)

Additional Inherited Members
Protected Attributes inherited from ct::rbd::InverseKinematicsBase< IKNLP::Kinematics_t::NJOINTS, IKNLP::Scalar_t >
InverseKinematicsSettings	settings_