C++ (Cpp) checkMatchQ Examples

Example #1

File: IK.cpp Project: aescande/RBDyn

bool InverseKinematics::sInverseKinematics(const MultiBody& mb, MultiBodyConfig& mbc,
					   const sva::PTransformd& ef_target)
{
	checkMatchQ(mb, mbc);
	checkMatchBodyPos(mb, mbc);
	checkMatchJointConf(mb, mbc);
	checkMatchParentToSon(mb, mbc);

	return inverseKinematics(mb, mbc, ef_target);
}

Example #2

File: FK.cpp Project: bchretien/RBDyn

void sForwardKinematics(const MultiBody& mb, MultiBodyConfig& mbc)
{
	checkMatchQ(mb, mbc);

	checkMatchBodyPos(mb, mbc);
	checkMatchJointConf(mb, mbc);
	checkMatchParentToSon(mb, mbc);

	forwardKinematics(mb, mbc);
}