List of all members | Classes | Public Types | Static Public Member Functions
NaturalDiffIK Class Reference

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

Classes

struct  IKStep
 
struct  Parameters
 
struct  Result
 

Public Types

enum  Mode { Position, All }
 

Static Public Member Functions

static Result CalculateDiffIK (const Eigen::Matrix4f &targetPose, const Eigen::Vector3f &elbowTarget, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp, VirtualRobot::RobotNodePtr elbow, Mode setOri, Parameters params=Parameters())
 
static Eigen::VectorXf LimitInfNormTo (Eigen::VectorXf vec, float maxValue)
 
static VirtualRobot::IKSolver::CartesianSelection ModeToCartesianSelection (Mode mode)
 

Detailed Description

Definition at line 33 of file NaturalDiffIK.h.

Member Enumeration Documentation

◆ Mode

enum Mode
strong
Enumerator
Position 
All 

Definition at line 36 of file NaturalDiffIK.h.

Member Function Documentation

◆ CalculateDiffIK()

NaturalDiffIK::Result CalculateDiffIK ( const Eigen::Matrix4f &  targetPose,
const Eigen::Vector3f &  elbowTarget,
VirtualRobot::RobotNodeSetPtr  rns,
VirtualRobot::RobotNodePtr  tcp,
VirtualRobot::RobotNodePtr  elbow,
Mode  setOri,
Parameters  params = Parameters() 
)
static

Definition at line 44 of file NaturalDiffIK.cpp.

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◆ LimitInfNormTo()

Eigen::VectorXf LimitInfNormTo ( Eigen::VectorXf  vec,
float  maxValue 
)
static

Definition at line 34 of file NaturalDiffIK.cpp.

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◆ ModeToCartesianSelection()

VirtualRobot::IKSolver::CartesianSelection ModeToCartesianSelection ( NaturalDiffIK::Mode  mode)
static

Definition at line 186 of file NaturalDiffIK.cpp.

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