#include <RobotAPI/libraries/diffik/CompositeDiffIK.h>

Inheritance diagram for CompositeDiffIK::NullspaceTarget:

Public Member Functions
Eigen::VectorXf	getGradient (Parameters &params) override

void	init (Parameters &) override

	NullspaceTarget (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &tcp, const Eigen::Matrix4f &target, VirtualRobot::IKSolver::CartesianSelection mode)

Public Member Functions inherited from CompositeDiffIK::NullspaceGradient
virtual	~NullspaceGradient ()=default

Public Attributes
std::vector< NullspaceTargetStep >	ikSteps

VirtualRobot::IKSolver::CartesianSelection	mode

CartesianPositionController	pCtrl

Eigen::Matrix4f	target

VirtualRobot::RobotNodePtr	tcp

CartesianVelocityController	vCtrl

Public Attributes inherited from CompositeDiffIK::NullspaceGradient
float	kP = 1

Detailed Description

Definition at line 76 of file CompositeDiffIK.h.

Constructor & Destructor Documentation

◆ NullspaceTarget()

NullspaceTarget	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodePtr &	tcp,
		const Eigen::Matrix4f &	target,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 306 of file CompositeDiffIK.cpp.

Member Function Documentation

◆ getGradient()

Eigen::VectorXf getGradient ( Parameters & params )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

Definition at line 317 of file CompositeDiffIK.cpp.

Here is the call graph for this function:

◆ init()

void init ( Parameters & )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

Definition at line 312 of file CompositeDiffIK.cpp.

Member Data Documentation

◆ ikSteps

std::vector<NullspaceTargetStep> ikSteps

Definition at line 90 of file CompositeDiffIK.h.

◆ mode

VirtualRobot::IKSolver::CartesianSelection mode

Definition at line 83 of file CompositeDiffIK.h.

◆ pCtrl

CartesianPositionController pCtrl

Definition at line 84 of file CompositeDiffIK.h.

◆ target

Eigen::Matrix4f target

Definition at line 82 of file CompositeDiffIK.h.

◆ tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 81 of file CompositeDiffIK.h.

◆ vCtrl

CartesianVelocityController vCtrl

Definition at line 85 of file CompositeDiffIK.h.

The documentation for this class was generated from the following files:

RobotAPI/libraries/diffik/CompositeDiffIK.h
RobotAPI/libraries/diffik/CompositeDiffIK.cpp

Public Member Functions

Public Attributes