SimpleDiffIK::Reachability Struct Reference

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

Public Member Functions
void	aggregate (const Result &result)

Public Attributes
std::vector< Result >	ikResults
Eigen::VectorXf	jointLimitMargins
float	maxOriError = 0
float	maxPosError = 0
float	minimumJointLimitMargin = M_PI
bool	reachable = true

Member Function Documentation

aggregate()

void aggregate

(

const Result &

result

)

Member Data Documentation

ikResults

std::vector<Result> ikResults

jointLimitMargins

Eigen::VectorXf jointLimitMargins

maxOriError

float maxOriError = 0

maxPosError

float maxPosError = 0

minimumJointLimitMargin

float minimumJointLimitMargin = M_PI

reachable

bool reachable = true

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

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