SimpleDiffIK::Parameters Struct Reference

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

Public Member Functions

 Parameters ()
 

Public Attributes

float ikStepLengthFineTune = 0.5f
 
float ikStepLengthInitial = 0.2f
 
float jointLimitAvoidanceKp = 2.0f
 
float maxJointAngleStep = 0.1f
 
float maxOriError = 0.05f
 
float maxPosError = 10.f
 
bool resetRnsValues = true
 
bool returnIKSteps = false
 
size_t stepsFineTune = 10
 
size_t stepsInitial = 25
 

Detailed Description

Definition at line 40 of file SimpleDiffIK.h.

Constructor & Destructor Documentation

◆ Parameters()

Parameters ( )
inline

Definition at line 42 of file SimpleDiffIK.h.

Member Data Documentation

◆ ikStepLengthFineTune

float ikStepLengthFineTune = 0.5f

Definition at line 45 of file SimpleDiffIK.h.

◆ ikStepLengthInitial

float ikStepLengthInitial = 0.2f

Definition at line 44 of file SimpleDiffIK.h.

◆ jointLimitAvoidanceKp

float jointLimitAvoidanceKp = 2.0f

Definition at line 50 of file SimpleDiffIK.h.

◆ maxJointAngleStep

float maxJointAngleStep = 0.1f

Definition at line 51 of file SimpleDiffIK.h.

◆ maxOriError

float maxOriError = 0.05f

Definition at line 49 of file SimpleDiffIK.h.

◆ maxPosError

float maxPosError = 10.f

Definition at line 48 of file SimpleDiffIK.h.

◆ resetRnsValues

bool resetRnsValues = true

Definition at line 53 of file SimpleDiffIK.h.

◆ returnIKSteps

bool returnIKSteps = false

Definition at line 52 of file SimpleDiffIK.h.

◆ stepsFineTune

size_t stepsFineTune = 10

Definition at line 47 of file SimpleDiffIK.h.

◆ stepsInitial

size_t stepsInitial = 25

Definition at line 46 of file SimpleDiffIK.h.


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