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SimpleDiffIK Class Reference

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

Classes

struct  IKStep
 
struct  Parameters
 
struct  Reachability
 
struct  Result
 

Static Public Member Functions

static Result CalculateDiffIK (const Eigen::Matrix4f targetPose, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp=VirtualRobot::RobotNodePtr(), Parameters params=Parameters())
 
static Reachability CalculateReachability (const std::vector< Eigen::Matrix4f > targets, const Eigen::VectorXf &initialJV, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp=VirtualRobot::RobotNodePtr(), Parameters params=Parameters())
 Use this to check a trajectory of waypoints. More...
 

Detailed Description

Definition at line 37 of file SimpleDiffIK.h.

Member Function Documentation

◆ CalculateDiffIK()

SimpleDiffIK::Result CalculateDiffIK ( const Eigen::Matrix4f  targetPose,
VirtualRobot::RobotNodeSetPtr  rns,
VirtualRobot::RobotNodePtr  tcp = VirtualRobot::RobotNodePtr(),
Parameters  params = Parameters() 
)
static

Definition at line 33 of file SimpleDiffIK.cpp.

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◆ CalculateReachability()

SimpleDiffIK::Reachability CalculateReachability ( const std::vector< Eigen::Matrix4f >  targets,
const Eigen::VectorXf &  initialJV,
VirtualRobot::RobotNodeSetPtr  rns,
VirtualRobot::RobotNodePtr  tcp = VirtualRobot::RobotNodePtr(),
SimpleDiffIK::Parameters  params = Parameters() 
)
static

Use this to check a trajectory of waypoints.

Definition at line 127 of file SimpleDiffIK.cpp.

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