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 148 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 324 of file CompositeDiffIK.cpp.

Member Function Documentation

getOriError()

auto getOriError

(

)

const

Definition at line 524 of file CompositeDiffIK.cpp.

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getPoseError()

Eigen::Matrix4f getPoseError

(

)

const

Definition at line 512 of file CompositeDiffIK.cpp.

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getPosError()

Eigen::Vector3f getPosError

(

)

const

Definition at line 518 of file CompositeDiffIK.cpp.

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Member Data Documentation

ikSteps

std::vector<TargetStep> ikSteps

Definition at line 163 of file CompositeDiffIK.h.

jacobi

Eigen::MatrixXf jacobi

Definition at line 158 of file CompositeDiffIK.h.

maxOriError

float maxOriError = 0.05f

Definition at line 161 of file CompositeDiffIK.h.

maxPosError

float maxPosError = 10.f

Definition at line 160 of file CompositeDiffIK.h.

mode

VirtualRobot::IKSolver::CartesianSelection mode

Definition at line 157 of file CompositeDiffIK.h.

pCtrl

CartesianPositionController pCtrl

Definition at line 159 of file CompositeDiffIK.h.

target

Eigen::Matrix4f target

Definition at line 156 of file CompositeDiffIK.h.

tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 155 of file CompositeDiffIK.h.

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

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