SoftPositionConstraint Struct Reference
+ Inheritance diagram for SoftPositionConstraint:

Public Member Functions

bool checkTolerances () override
Eigen::VectorXf optimizationGradient (unsigned int id) override
 SoftPositionConstraint (const VirtualRobot::RobotPtr &robot, const VirtualRobot::RobotNodeSetPtr &nodeSet, const VirtualRobot::SceneObjectPtr &node, const VirtualRobot::SceneObjectPtr &tcp, const Eigen::Vector3f &target, VirtualRobot::IKSolver::CartesianSelection cartesianSelection=VirtualRobot::IKSolver::All, float tolerance=3.0f)

Public Attributes

VirtualRobot::SceneObjectPtr tcp

Detailed Description

Definition at line 255 of file NaturalIKTest.cpp.

Constructor & Destructor Documentation

◆ SoftPositionConstraint()

SoftPositionConstraint ( const VirtualRobot::RobotPtr robot,
const VirtualRobot::RobotNodeSetPtr &  nodeSet,
const VirtualRobot::SceneObjectPtr &  node,
const VirtualRobot::SceneObjectPtr &  tcp,
const Eigen::Vector3f &  target,
VirtualRobot::IKSolver::CartesianSelection  cartesianSelection = VirtualRobot::IKSolver::All,
float  tolerance = 3.0f 

Definition at line 258 of file NaturalIKTest.cpp.

Member Function Documentation

◆ checkTolerances()

bool checkTolerances ( )

Definition at line 295 of file NaturalIKTest.cpp.

◆ optimizationGradient()

Eigen::VectorXf optimizationGradient ( unsigned int  id)

Definition at line 269 of file NaturalIKTest.cpp.

Member Data Documentation

◆ tcp

VirtualRobot::SceneObjectPtr tcp

Definition at line 266 of file NaturalIKTest.cpp.

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