CompositeDiffIK::NullspaceJointLimitAvoidance Class Reference

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

Inheritance diagram for CompositeDiffIK::NullspaceJointLimitAvoidance:

Public Member Functions
Eigen::VectorXf	getGradient (Parameters &params) override
void	init (Parameters &) override
	NullspaceJointLimitAvoidance (const VirtualRobot::RobotNodeSetPtr &rns)
	NullspaceJointLimitAvoidance (const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::VectorXf &weight)
void	setWeight (const std::string &jointName, float weight)
void	setWeight (const VirtualRobot::RobotNodePtr &rn, float weight)
void	setWeight (int index, float weight)
void	setWeights (const VirtualRobot::RobotNodeSetPtr &rns, float weight)
Public Member Functions inherited from CompositeDiffIK::NullspaceGradient
virtual	~NullspaceGradient ()=default

Public Attributes
VirtualRobot::RobotNodeSetPtr	rns
Eigen::VectorXf	weight
Public Attributes inherited from CompositeDiffIK::NullspaceGradient
float	kP = 1

Constructor & Destructor Documentation

NullspaceJointLimitAvoidance() [1/2]

NullspaceJointLimitAvoidance

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

NullspaceJointLimitAvoidance() [2/2]

NullspaceJointLimitAvoidance	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::VectorXf &	weight )

Member Function Documentation

getGradient()

Eigen::VectorXf getGradient ( Parameters & params )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

init()

void init ( CompositeDiffIK::Parameters & )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

setWeight() [1/3]

void setWeight	(	const std::string &	jointName,
		float	weight )

setWeight() [2/3]

void setWeight	(	const VirtualRobot::RobotNodePtr &	rn,
		float	weight )

setWeight() [3/3]

void setWeight	(	int	index,
		float	weight )

setWeights()

void setWeights	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		float	weight )

Member Data Documentation

rns

VirtualRobot::RobotNodeSetPtr rns

weight

Eigen::VectorXf weight

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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