iCub-main
Classes
iKinInv

Classes for inverse kinematics of serial-links chains and iCub limbs. More...

+ Collaboration diagram for iKinInv:

Classes

class  iCub::iKin::iKinCtrl
 Abstract class for inverting chain's kinematics. More...
 
class  iCub::iKin::SteepCtrl
 A class derived from iKinCtrl implementing two standard algorithms based on steepest descent qdot=-Kp*grad. More...
 
class  iCub::iKin::VarKpSteepCtrl
 A class derived from SteepCtrl implementing the variable gain algorithm. More...
 
class  iCub::iKin::LMCtrl
 A class derived from iKinCtrl implementing the Levenberg-Marquardt algorithm: More...
 
class  iCub::iKin::LMCtrl_GPM
 A class derived from LMCtrl implementing the Gradient Projection Method according to the paper available here. More...
 
class  iCub::iKin::MultiRefMinJerkCtrl
 A class derived from iKinCtrl implementing the multi-referential approach (pdf). More...
 

Detailed Description

Classes for inverse kinematics of serial-links chains and iCub limbs.

Date: first release 16/06/2008

Author
Ugo Pattacini