List of all members | Public Member Functions | Public Attributes
SoftPositionConstraint Struct Reference
+ Inheritance diagram for SoftPositionConstraint:

Public Member Functions

bool checkTolerances () override
 
Eigen::VectorXf optimizationGradient (unsigned int id) override
 
 SoftPositionConstraint (const VirtualRobot::RobotPtr &robot, const VirtualRobot::RobotNodeSetPtr &nodeSet, const VirtualRobot::SceneObjectPtr &node, const VirtualRobot::SceneObjectPtr &tcp, const Eigen::Vector3f &target, VirtualRobot::IKSolver::CartesianSelection cartesianSelection=VirtualRobot::IKSolver::All, float tolerance=3.0f)
 

Public Attributes

VirtualRobot::SceneObjectPtr tcp
 

Detailed Description

Definition at line 267 of file NaturalIKTest.cpp.

Constructor & Destructor Documentation

◆ SoftPositionConstraint()

SoftPositionConstraint ( const VirtualRobot::RobotPtr & robot,
const VirtualRobot::RobotNodeSetPtr & nodeSet,
const VirtualRobot::SceneObjectPtr & node,
const VirtualRobot::SceneObjectPtr & tcp,
const Eigen::Vector3f & target,
VirtualRobot::IKSolver::CartesianSelection cartesianSelection = VirtualRobot::IKSolver::All,
float tolerance = 3.0f )
inline

Definition at line 270 of file NaturalIKTest.cpp.

Member Function Documentation

◆ checkTolerances()

bool checkTolerances ( )
inlineoverride

Definition at line 317 of file NaturalIKTest.cpp.

◆ optimizationGradient()

Eigen::VectorXf optimizationGradient ( unsigned int id)
inlineoverride

Definition at line 289 of file NaturalIKTest.cpp.

Member Data Documentation

◆ tcp

VirtualRobot::SceneObjectPtr tcp

Definition at line 286 of file NaturalIKTest.cpp.

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