CompositeDiffIK::NullspaceTargetStep Struct Reference

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

Public Attributes
Eigen::VectorXf	cartesianVel
Eigen::VectorXf	jointVel
Eigen::Vector3f	oriDiff
Eigen::Vector3f	posDiff
Eigen::Matrix4f	tcpPose

Detailed Description

Definition at line 68 of file CompositeDiffIK.h.

Member Data Documentation

cartesianVel

Eigen::VectorXf cartesianVel

Definition at line 73 of file CompositeDiffIK.h.

jointVel

Eigen::VectorXf jointVel

Definition at line 74 of file CompositeDiffIK.h.

oriDiff

Eigen::Vector3f oriDiff

Definition at line 71 of file CompositeDiffIK.h.

posDiff

Eigen::Vector3f posDiff

Definition at line 70 of file CompositeDiffIK.h.

tcpPose

Eigen::Matrix4f tcpPose

Definition at line 72 of file CompositeDiffIK.h.

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

• RobotAPI/libraries/diffik/CompositeDiffIK.h