Classes
class	ActuatorMetadata
	Actuator specific view of an element in a RobotModel instance. More...

class	BracketMetadata
	Bracket specific view of an element in a RobotModel instance. More...

class	CustomObjective
	Allows you to add a custom objective function. More...

class	EndEffectorPositionObjective

class	EndEffectorSO3Objective

class	EndEffectorTipAxisObjective

struct	IKResult

class	JointLimitConstraint

class	JointMetadata
	Joint specific view of an element in a RobotModel instance. More...

class	LinkMetadata
	Link specific view of an element in a RobotModel instance. More...

class	MetadataBase
	Base class for all metadata. Do not instantiate directly. More...

class	Objective

class	RigidBodyMetadata
	Rigid Body specific view of an element in a RobotModel instance. More...

class	RobotModel
	Represents a chain or tree of robot elements (rigid bodies and joints). More...

Typedefs
using	Matrix4dVector = std::vector< Matrix4d, Eigen::aligned_allocator< Eigen::Matrix4d > >

using	MatrixXdVector = std::vector< MatrixXd, Eigen::aligned_allocator< Eigen::MatrixXd > >

Functions
template<size_t T>
void	custom_objective_callback_wrapper (void user_data, size_t num_positions, const double positions, double *errors)
	C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself. More...

Typedef Documentation

◆ Matrix4dVector

using hebi::robot_model::Matrix4dVector = typedef std::vector<Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> >

using hebi::robot_model::MatrixXdVector = typedef std::vector<MatrixXd, Eigen::aligned_allocator<Eigen::MatrixXd> >

template<size_t T>

void hebi::robot_model::custom_objective_callback_wrapper	(	void *	user_data,
		size_t	num_positions,
		const double *	positions,
		double *	errors
	)

inline

C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself.

INTERNAL This is forward declared here so it can be used in the CustomObjective class below.

INTERNAL