NaturalDiffIK::Parameters Struct Reference

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

Public Member Functions
	Parameters ()

Public Attributes
float	elbowKp = 1.0f
float	ikStepLengthFineTune = 0.5f
float	ikStepLengthInitial = 0.2f
float	jointLimitAvoidanceKp = 0.f
float	maxJointAngleStep = 0.1f
float	maxOriError = 0.05f
float	maxPosError = 10.f
bool	resetRnsValues = true
bool	returnIKSteps = false
size_t	stepsFineTune = 10
size_t	stepsInitial = 25

Detailed Description

Definition at line 40 of file NaturalDiffIK.h.

Constructor & Destructor Documentation

Parameters()

Parameters ( )

inline

Definition at line 42 of file NaturalDiffIK.h.

Member Data Documentation

elbowKp

float elbowKp = 1.0f

Definition at line 54 of file NaturalDiffIK.h.

ikStepLengthFineTune

float ikStepLengthFineTune = 0.5f

Definition at line 48 of file NaturalDiffIK.h.

ikStepLengthInitial

float ikStepLengthInitial = 0.2f

Definition at line 47 of file NaturalDiffIK.h.

jointLimitAvoidanceKp

float jointLimitAvoidanceKp = 0.f

Definition at line 53 of file NaturalDiffIK.h.

maxJointAngleStep

float maxJointAngleStep = 0.1f

Definition at line 55 of file NaturalDiffIK.h.

maxOriError

float maxOriError = 0.05f

Definition at line 52 of file NaturalDiffIK.h.

maxPosError

float maxPosError = 10.f

Definition at line 51 of file NaturalDiffIK.h.

resetRnsValues

bool resetRnsValues = true

Definition at line 56 of file NaturalDiffIK.h.

returnIKSteps

bool returnIKSteps = false

Definition at line 57 of file NaturalDiffIK.h.

stepsFineTune

size_t stepsFineTune = 10

Definition at line 50 of file NaturalDiffIK.h.

stepsInitial

size_t stepsInitial = 25

Definition at line 49 of file NaturalDiffIK.h.

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The documentation for this struct was generated from the following file:

• RobotAPI/libraries/diffik/NaturalDiffIK.h