CompositeDiffIK::SolveState Struct Reference

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

Public Attributes
Eigen::VectorXf	cartesianRegularization
int	cols = 0
Eigen::MatrixXf	invJac
Eigen::MatrixXf	jacobi
Eigen::VectorXf	jointRegularization
Eigen::VectorXf	jointValues
Eigen::MatrixXf	nullspace
int	rows = 0

Detailed Description

Definition at line 187 of file CompositeDiffIK.h.

Member Data Documentation

cartesianRegularization

Eigen::VectorXf cartesianRegularization

Definition at line 192 of file CompositeDiffIK.h.

cols

int cols = 0

Definition at line 190 of file CompositeDiffIK.h.

invJac

Eigen::MatrixXf invJac

Definition at line 195 of file CompositeDiffIK.h.

jacobi

Eigen::MatrixXf jacobi

Definition at line 194 of file CompositeDiffIK.h.

jointRegularization

Eigen::VectorXf jointRegularization

Definition at line 191 of file CompositeDiffIK.h.

jointValues

Eigen::VectorXf jointValues

Definition at line 193 of file CompositeDiffIK.h.

nullspace

Eigen::MatrixXf nullspace

Definition at line 196 of file CompositeDiffIK.h.

rows

int rows = 0

Definition at line 189 of file CompositeDiffIK.h.

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

• RobotAPI/libraries/diffik/CompositeDiffIK.h