NaturalDiffIK Class Reference

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

Classes
struct	IKStep
struct	Parameters
struct	Result

Public Types
enum class	Mode { Position , All }

Static Public Member Functions
static Result	CalculateDiffIK (const Eigen::Matrix4f &targetPose, const Eigen::Vector3f &elbowTarget, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp, VirtualRobot::RobotNodePtr elbow, Mode setOri, Parameters params=Parameters())
static Eigen::VectorXf	LimitInfNormTo (Eigen::VectorXf vec, float maxValue)
static VirtualRobot::IKSolver::CartesianSelection	ModeToCartesianSelection (Mode mode)

Member Enumeration Documentation

Mode

enum class Mode

strong

Enumerator
Position
All

Member Function Documentation

CalculateDiffIK()

NaturalDiffIK::Result CalculateDiffIK ( const Eigen::Matrix4f & targetPose, const Eigen::Vector3f & elbowTarget, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp, VirtualRobot::RobotNodePtr elbow, Mode setOri, Parameters params = Parameters() )

static

LimitInfNormTo()

Eigen::VectorXf LimitInfNormTo ( Eigen::VectorXf vec, float maxValue )

static

ModeToCartesianSelection()

VirtualRobot::IKSolver::CartesianSelection ModeToCartesianSelection ( NaturalDiffIK::Mode mode )

static

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

• RobotAPI/libraries/diffik/NaturalDiffIK.h
• RobotAPI/libraries/diffik/NaturalDiffIK.cpp