SimpleDiffIK::Reachability Struct Reference

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

Public Member Functions

void aggregate (const Result &result)

Public Attributes

std::vector< ResultikResults
Eigen::VectorXf jointLimitMargins
float maxOriError = 0
float maxPosError = 0
float minimumJointLimitMargin = M_PI
bool reachable = true

Detailed Description

Definition at line 81 of file SimpleDiffIK.h.

Member Function Documentation

◆ aggregate()

void aggregate ( const Result result)

Definition at line 91 of file SimpleDiffIK.h.

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Member Data Documentation

◆ ikResults

std::vector<Result> ikResults

Definition at line 89 of file SimpleDiffIK.h.

◆ jointLimitMargins

Eigen::VectorXf jointLimitMargins

Definition at line 86 of file SimpleDiffIK.h.

◆ maxOriError

float maxOriError = 0

Definition at line 88 of file SimpleDiffIK.h.

◆ maxPosError

float maxPosError = 0

Definition at line 87 of file SimpleDiffIK.h.

◆ minimumJointLimitMargin

float minimumJointLimitMargin = M_PI

Definition at line 85 of file SimpleDiffIK.h.

◆ reachable

bool reachable = true

Definition at line 84 of file SimpleDiffIK.h.

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