SimpleDiffIK::IKStep Struct Reference

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

Public Attributes
Eigen::VectorXf	cartesianVel
float	infNorm
Eigen::VectorXf	jnv
Eigen::VectorXf	jointValues
Eigen::VectorXf	jv
Eigen::VectorXf	jvClamped
Eigen::Vector3f	oriDiff
Eigen::Vector3f	posDiff

Detailed Description

Definition at line 55 of file SimpleDiffIK.h.

Member Data Documentation

cartesianVel

Eigen::VectorXf cartesianVel

Definition at line 60 of file SimpleDiffIK.h.

infNorm

float infNorm

Definition at line 63 of file SimpleDiffIK.h.

jnv

Eigen::VectorXf jnv

Definition at line 61 of file SimpleDiffIK.h.

jointValues

Eigen::VectorXf jointValues

Definition at line 57 of file SimpleDiffIK.h.

jv

Eigen::VectorXf jv

Definition at line 62 of file SimpleDiffIK.h.

jvClamped

Eigen::VectorXf jvClamped

Definition at line 64 of file SimpleDiffIK.h.

oriDiff

Eigen::Vector3f oriDiff

Definition at line 59 of file SimpleDiffIK.h.

posDiff

Eigen::Vector3f posDiff

Definition at line 58 of file SimpleDiffIK.h.

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

• RobotAPI/libraries/diffik/SimpleDiffIK.h