CompositeDiffIK::Target Class Reference

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

Public Member Functions
auto	getOriError () const
Eigen::Matrix4f	getPoseError () const
Eigen::Vector3f	getPosError () const
	Target (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodePtr &tcp, const Eigen::Matrix4f &target, VirtualRobot::IKSolver::CartesianSelection mode)

Public Attributes
std::vector< TargetStep >	ikSteps
Eigen::MatrixXf	jacobi
float	maxOriError = 0.05f
float	maxPosError = 10.f
VirtualRobot::IKSolver::CartesianSelection	mode
CartesianPositionController	pCtrl
Eigen::Matrix4f	target
VirtualRobot::RobotNodePtr	tcp

Constructor & Destructor Documentation

Target()

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

Member Function Documentation

getOriError()

auto getOriError

(

)

const

getPoseError()

Eigen::Matrix4f getPoseError

(

)

const

getPosError()

Eigen::Vector3f getPosError

(

)

const

Member Data Documentation

ikSteps

std::vector<TargetStep> ikSteps

jacobi

Eigen::MatrixXf jacobi

maxOriError

float maxOriError = 0.05f

maxPosError

float maxPosError = 10.f

mode

VirtualRobot::IKSolver::CartesianSelection mode

pCtrl

CartesianPositionController pCtrl

target

Eigen::Matrix4f target

tcp

VirtualRobot::RobotNodePtr tcp

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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