CompositeDiffIK::NullspaceGradient Class Reference

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

Inheritance diagram for CompositeDiffIK::NullspaceGradient:

Public Member Functions
virtual Eigen::VectorXf	getGradient (Parameters &params)=0
virtual void	init (Parameters &params)=0
virtual	~NullspaceGradient ()=default

Public Attributes
float	kP = 1

Detailed Description

Definition at line 60 of file CompositeDiffIK.h.

Constructor & Destructor Documentation

~NullspaceGradient()

virtual ~NullspaceGradient ( )

virtualdefault

Member Function Documentation

getGradient()

virtual Eigen::VectorXf getGradient ( Parameters &  params )

pure virtual

Implemented in CompositeDiffIK::NullspaceJointLimitAvoidance, CompositeDiffIK::NullspaceJointTarget, and CompositeDiffIK::NullspaceTarget.

init()

virtual void init ( Parameters &  params )

pure virtual

Implemented in CompositeDiffIK::NullspaceJointLimitAvoidance, CompositeDiffIK::NullspaceJointTarget, and CompositeDiffIK::NullspaceTarget.

Member Data Documentation

kP

float kP = 1

Definition at line 66 of file CompositeDiffIK.h.

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

• RobotAPI/libraries/diffik/CompositeDiffIK.h