CompositeDiffIK::NullspaceJointTarget Class Reference

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

Inheritance diagram for CompositeDiffIK::NullspaceJointTarget:

Public Member Functions
Eigen::VectorXf	getGradient (Parameters &params) override
void	init (Parameters &) override
	NullspaceJointTarget (const VirtualRobot::RobotNodeSetPtr &rns)
	NullspaceJointTarget (const VirtualRobot::RobotNodeSetPtr &rns, const Eigen::VectorXf &target, const Eigen::VectorXf &weight)
void	set (const std::string &jointName, float target, float weight)
void	set (const VirtualRobot::RobotNodePtr &rn, float target, float weight)
void	set (int index, float target, float weight)
Public Member Functions inherited from CompositeDiffIK::NullspaceGradient
virtual	~NullspaceGradient ()=default

Public Attributes
VirtualRobot::RobotNodeSetPtr	rns
Eigen::VectorXf	target
Eigen::VectorXf	weight
Public Attributes inherited from CompositeDiffIK::NullspaceGradient
float	kP = 1

Constructor & Destructor Documentation

NullspaceJointTarget() [1/2]

NullspaceJointTarget

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

NullspaceJointTarget() [2/2]

NullspaceJointTarget	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const Eigen::VectorXf &	target,
		const Eigen::VectorXf &	weight )

Member Function Documentation

getGradient()

Eigen::VectorXf getGradient ( Parameters & params )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

init()

void init ( CompositeDiffIK::Parameters & )

overridevirtual

Implements CompositeDiffIK::NullspaceGradient.

set() [1/3]

void set	(	const std::string &	jointName,
		float	target,
		float	weight )

set() [2/3]

void set	(	const VirtualRobot::RobotNodePtr &	rn,
		float	target,
		float	weight )

set() [3/3]

void set	(	int	index,
		float	target,
		float	weight )

Member Data Documentation

rns

VirtualRobot::RobotNodeSetPtr rns

target

Eigen::VectorXf target

weight

Eigen::VectorXf weight

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

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