TPIK  1.0
Task Priority Inverse Kinematics
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tpik::Solver Class Reference

#include <Solver.h>

Public Member Functions

 Solver (std::shared_ptr< ActionManager > actionManager, std::shared_ptr< iCAT > icat)
 
 ~Solver ()
 
bool SetAction (const std::string action, bool transition)
 
const Eigen::VectorXd ComputeVelocities ()
 
auto DeltaYs () const -> const std::vector< Eigen::VectorXd > &
 

Friends

std::ostream & operator<< (std::ostream &os, Solver const &solver)
 

Constructor & Destructor Documentation

◆ Solver()

tpik::Solver::Solver ( std::shared_ptr< ActionManager actionManager,
std::shared_ptr< iCAT icat 
)

◆ ~Solver()

tpik::Solver::~Solver ( )
inline

Member Function Documentation

◆ ComputeVelocities()

const Eigen::VectorXd tpik::Solver::ComputeVelocities ( )

◆ DeltaYs()

auto tpik::Solver::DeltaYs ( ) const -> const std::vector<Eigen::VectorXd>&
inline

◆ SetAction()

bool tpik::Solver::SetAction ( const std::string  action,
bool  transition 
)

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<< ( std::ostream &  os,
Solver const &  solver 
)
friend

The documentation for this class was generated from the following file: