CompositeDiffIK::NullspaceTarget Class Reference

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

Inheritance diagram for CompositeDiffIK::NullspaceTarget:

Public Member Functions
Eigen::VectorXf	getGradient (Parameters &params) override
void	init (Parameters &) override
	NullspaceTarget (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &tcp, const Eigen::Matrix4f &target, VirtualRobot::IKSolver::CartesianSelection mode)
Public Member Functions inherited from CompositeDiffIK::NullspaceGradient
virtual	~NullspaceGradient ()=default

Public Attributes
std::vector< NullspaceTargetStep >	ikSteps
VirtualRobot::IKSolver::CartesianSelection	mode
CartesianPositionController	pCtrl
Eigen::Matrix4f	target
VirtualRobot::RobotNodePtr	tcp
CartesianVelocityController	vCtrl
Public Attributes inherited from CompositeDiffIK::NullspaceGradient
float	kP = 1

Constructor & Destructor Documentation

NullspaceTarget()

NullspaceTarget	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodePtr &	tcp,
		const Eigen::Matrix4f &	target,
		VirtualRobot::IKSolver::CartesianSelection	mode )

Member Function Documentation

getGradient()

Eigen::VectorXf getGradient ( Parameters & params )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

init()

void init ( Parameters & )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

Member Data Documentation

ikSteps

std::vector<NullspaceTargetStep> ikSteps

mode

VirtualRobot::IKSolver::CartesianSelection mode

pCtrl

CartesianPositionController pCtrl

target

Eigen::Matrix4f target

tcp

VirtualRobot::RobotNodePtr tcp

vCtrl

CartesianVelocityController vCtrl

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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