PositionControllerHelper::NullspaceOptimizationArgs Struct Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h>

Public Member Functions
	NullspaceOptimizationArgs ()

Public Attributes
VirtualRobot::IKSolver::CartesianSelection	cartesianSelection = VirtualRobot::IKSolver::All
float	eps = 0.001
VirtualRobot::JacobiProvider::InverseJacobiMethod	invJacMethod = VirtualRobot::JacobiProvider::eSVD
int	loops = 100
float	maxOriErrorIncrease = 1.f / 180 * M_PI
float	maxPoseErrorIncrease = 1
float	stepLength = 0.05f

Detailed Description

Definition at line 94 of file PositionControllerHelper.h.

Constructor & Destructor Documentation

NullspaceOptimizationArgs()

NullspaceOptimizationArgs ( )

inline

Definition at line 96 of file PositionControllerHelper.h.

Member Data Documentation

cartesianSelection

VirtualRobot::IKSolver::CartesianSelection cartesianSelection = VirtualRobot::IKSolver::All

Definition at line 102 of file PositionControllerHelper.h.

eps

float eps = 0.001

Definition at line 99 of file PositionControllerHelper.h.

invJacMethod

VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod = VirtualRobot::JacobiProvider::eSVD

Definition at line 103 of file PositionControllerHelper.h.

loops

int loops = 100

Definition at line 97 of file PositionControllerHelper.h.

maxOriErrorIncrease

float maxOriErrorIncrease = 1.f / 180 * M_PI

Definition at line 100 of file PositionControllerHelper.h.

maxPoseErrorIncrease

float maxPoseErrorIncrease = 1

Definition at line 101 of file PositionControllerHelper.h.

stepLength

float stepLength = 0.05f

Definition at line 98 of file PositionControllerHelper.h.

---

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

• RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h