Class KickIK

Defined in File kick_ik.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractIK< KickPositions >

Class Documentation

class bitbots_dynamic_kick::KickIK : public bitbots_splines::AbstractIK<KickPositions>

Public Functions

KickIK() = default

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

bitbots_splines::JointGoals calculate(const KickPositions &positions) override

void reset() override

Private Members

moveit::core::RobotStatePtr goal_state_

planning_scene::PlanningScenePtr planning_scene_

moveit::core::JointModelGroup *legs_joints_group_

moveit::core::JointModelGroup *left_leg_joints_group_

moveit::core::JointModelGroup *right_leg_joints_group_