PositionControllerHelper::NullspaceOptimizationArgs Struct Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h>

Public Member Functions
	NullspaceOptimizationArgs ()

Public Attributes
VirtualRobot::IKSolver::CartesianSelection	cartesianSelection
float	eps = 0.001
VirtualRobot::JacobiProvider::InverseJacobiMethod	invJacMethod
int	loops = 100
float	maxOriErrorIncrease = 1.f / 180 * M_PI
float	maxPoseErrorIncrease = 1
float	stepLength = 0.05f

Constructor & Destructor Documentation

NullspaceOptimizationArgs()

NullspaceOptimizationArgs ( )

inline

Member Data Documentation

cartesianSelection

VirtualRobot::IKSolver::CartesianSelection cartesianSelection

Initial value:

=
                VirtualRobot::IKSolver::All

eps

float eps = 0.001

invJacMethod

VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod

Initial value:

=
                VirtualRobot::JacobiProvider::eSVD

loops

int loops = 100

maxOriErrorIncrease

float maxOriErrorIncrease = 1.f / 180 * M_PI

maxPoseErrorIncrease

float maxPoseErrorIncrease = 1

stepLength

float stepLength = 0.05f

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

• RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h