List of all members | Public Member Functions | Public Attributes
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
 

Detailed Description

Definition at line 120 of file CompositeDiffIK.h.

Constructor & Destructor Documentation

◆ NullspaceJointLimitAvoidance() [1/2]

NullspaceJointLimitAvoidance ( const VirtualRobot::RobotNodeSetPtr &  rns)

Definition at line 432 of file CompositeDiffIK.cpp.

◆ NullspaceJointLimitAvoidance() [2/2]

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

Definition at line 438 of file CompositeDiffIK.cpp.

Member Function Documentation

◆ getGradient()

Eigen::VectorXf getGradient ( Parameters &  params)
overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

Definition at line 490 of file CompositeDiffIK.cpp.

◆ init()

void init ( CompositeDiffIK::Parameters &  )
overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

Definition at line 485 of file CompositeDiffIK.cpp.

◆ setWeight() [1/3]

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

Definition at line 452 of file CompositeDiffIK.cpp.

◆ setWeight() [2/3]

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

Definition at line 463 of file CompositeDiffIK.cpp.

◆ setWeight() [3/3]

void setWeight ( int  index,
float  weight 
)

Definition at line 446 of file CompositeDiffIK.cpp.

◆ setWeights()

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

Definition at line 475 of file CompositeDiffIK.cpp.

Member Data Documentation

◆ rns

VirtualRobot::RobotNodeSetPtr rns

Definition at line 132 of file CompositeDiffIK.h.

◆ weight

Eigen::VectorXf weight

Definition at line 133 of file CompositeDiffIK.h.

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