Class WalkIK

Defined in File walk_ik.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractIK< WalkResponse >

Class Documentation

class bitbots_quintic_walk::WalkIK : public bitbots_splines::AbstractIK<WalkResponse>

Public Functions

explicit WalkIK(rclcpp::Node::SharedPtr node, walking::Params::Node::Ik config)

bitbots_splines::JointGoals calculate(const WalkResponse &ik_goals)

void init(moveit::core::RobotModelPtr kinematic_model) override

void reset() override

void setConfig(walking::Params::Node::Ik config)

const std::vector<std::string> &getLeftLegJointNames()

const std::vector<std::string> &getRightLegJointNames()

moveit::core::RobotStatePtr get_goal_state()

Private Members

rclcpp::Node::SharedPtr node_

moveit::core::RobotStatePtr goal_state_

const moveit::core::JointModelGroup *legs_joints_group_

const moveit::core::JointModelGroup *left_leg_joints_group_

const moveit::core::JointModelGroup *right_leg_joints_group_

walking::Params::Node::Ik config_