Template Class AbstractStabilizer

• Defined in File abstract_stabilizer.hpp

Class Documentation

template<typename Positions>
class bitbots_splines::AbstractStabilizer

Public Functions

virtual void reset() = 0

Reset the stabilizer to its initial state.

virtual Positions stabilize(const Positions &positions, const rclcpp::Duration &dt) = 0

Get a set inverse kinematics goals from cartesian positions. The inverse kinematics goals may contain additional goals, especially for stabilizing.

Parameters

positions – An instance of Positions that contains the results of the engine’s calculations.

Returns

A pointer to BioIK Goals that can be passed to the AbstractIK.