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

Public Attributes
Eigen::Vector3f	elbowPosDiff

std::vector< IKStep >	ikSteps

Eigen::VectorXf	jointLimitMargins

Eigen::VectorXf	jointValues

float	minimumJointLimitMargin

Eigen::Vector3f	oriDiff

float	oriError

Eigen::Vector3f	posDiff

Eigen::Vector3f	posDiffElbow

float	posError

float	posErrorElbow

bool	reached

Detailed Description

Definition at line 76 of file NaturalDiffIK.h.

Member Data Documentation

◆ elbowPosDiff

Eigen::Vector3f elbowPosDiff

Definition at line 88 of file NaturalDiffIK.h.

◆ ikSteps

std::vector<IKStep> ikSteps

Definition at line 89 of file NaturalDiffIK.h.

◆ jointLimitMargins

Eigen::VectorXf jointLimitMargins

Definition at line 86 of file NaturalDiffIK.h.

◆ jointValues

Eigen::VectorXf jointValues

Definition at line 78 of file NaturalDiffIK.h.

◆ minimumJointLimitMargin

float minimumJointLimitMargin

Definition at line 87 of file NaturalDiffIK.h.

◆ oriDiff

Eigen::Vector3f oriDiff

Definition at line 81 of file NaturalDiffIK.h.

◆ oriError

float oriError

Definition at line 84 of file NaturalDiffIK.h.

◆ posDiff

Eigen::Vector3f posDiff

Definition at line 79 of file NaturalDiffIK.h.

◆ posDiffElbow

Eigen::Vector3f posDiffElbow

Definition at line 80 of file NaturalDiffIK.h.

◆ posError

float posError

Definition at line 82 of file NaturalDiffIK.h.

◆ posErrorElbow

float posErrorElbow

Definition at line 83 of file NaturalDiffIK.h.

◆ reached

bool reached

Definition at line 85 of file NaturalDiffIK.h.

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

RobotAPI/libraries/diffik/NaturalDiffIK.h

Public Attributes