List of all members | Public Member Functions | Public Attributes
CompositeDiffIK::Target Class Reference

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

Public Member Functions

auto getOriError () const
 
Eigen::Matrix4f getPoseError () const
 
Eigen::Vector3f getPosError () const
 
 Target (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &tcp, const Eigen::Matrix4f &target, VirtualRobot::IKSolver::CartesianSelection mode)
 

Public Attributes

std::vector< TargetStep > ikSteps
 
Eigen::MatrixXf jacobi
 
float maxOriError = 0.05f
 
float maxPosError = 10.f
 
VirtualRobot::IKSolver::CartesianSelection mode
 
CartesianPositionController pCtrl
 
Eigen::Matrix4f target
 
VirtualRobot::RobotNodePtr tcp
 

Detailed Description

Definition at line 139 of file CompositeDiffIK.h.

Constructor & Destructor Documentation

◆ Target()

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

Definition at line 300 of file CompositeDiffIK.cpp.

Member Function Documentation

◆ getOriError()

auto getOriError ( ) const
inline

Definition at line 161 of file CompositeDiffIK.h.

◆ getPoseError()

Eigen::Matrix4f getPoseError ( ) const
inline

Definition at line 153 of file CompositeDiffIK.h.

◆ getPosError()

Eigen::Vector3f getPosError ( ) const
inline

Definition at line 157 of file CompositeDiffIK.h.

Member Data Documentation

◆ ikSteps

std::vector<TargetStep> ikSteps

Definition at line 151 of file CompositeDiffIK.h.

◆ jacobi

Eigen::MatrixXf jacobi

Definition at line 146 of file CompositeDiffIK.h.

◆ maxOriError

float maxOriError = 0.05f

Definition at line 149 of file CompositeDiffIK.h.

◆ maxPosError

float maxPosError = 10.f

Definition at line 148 of file CompositeDiffIK.h.

◆ mode

VirtualRobot::IKSolver::CartesianSelection mode

Definition at line 145 of file CompositeDiffIK.h.

◆ pCtrl

CartesianPositionController pCtrl

Definition at line 147 of file CompositeDiffIK.h.

◆ target

Eigen::Matrix4f target

Definition at line 144 of file CompositeDiffIK.h.

◆ tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 143 of file CompositeDiffIK.h.

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