SimpleDiffIK::Parameters Struct Reference

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

Public Member Functions
	Parameters ()

Public Attributes
float	ikStepLengthFineTune = 0.5f
float	ikStepLengthInitial = 0.2f
float	jointLimitAvoidanceKp = 2.0f
float	maxJointAngleStep = 0.1f
float	maxOriError = 0.05f
float	maxPosError = 10.f
bool	resetRnsValues = true
bool	returnIKSteps = false
size_t	stepsFineTune = 10
size_t	stepsInitial = 25

Constructor & Destructor Documentation

Parameters()

Parameters ( )

inline

Member Data Documentation

ikStepLengthFineTune

float ikStepLengthFineTune = 0.5f

ikStepLengthInitial

float ikStepLengthInitial = 0.2f

jointLimitAvoidanceKp

float jointLimitAvoidanceKp = 2.0f

maxJointAngleStep

float maxJointAngleStep = 0.1f

maxOriError

float maxOriError = 0.05f

maxPosError

float maxPosError = 10.f

resetRnsValues

bool resetRnsValues = true

returnIKSteps

bool returnIKSteps = false

stepsFineTune

size_t stepsFineTune = 10

stepsInitial

size_t stepsInitial = 25

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

• RobotAPI/libraries/diffik/SimpleDiffIK.h