Constraint to specify cartesian goal pose (XYZ+orientation) Convenience class, built from goal_position and goal_orientation constraints. More...

#include <goal_pose.h>

Inheritance diagram for constrained_ik::constraints::GoalPose:

Public Member Functions
void	setWeightOrientation (const Eigen::Vector3d &weight_orientation)
	Setter for the orientation weights.
void	setWeightPosition (const Eigen::Vector3d &weight_position)
	Setter for the position weights.
Protected Attributes
GoalOrientation *	orientation_
GoalPosition *	position_

Detailed Description

Constraint to specify cartesian goal pose (XYZ+orientation) Convenience class, built from goal_position and goal_orientation constraints.

Todo:: This should not be a ConstraintGroup because it has to calculate a jacobian twice.

Definition at line 44 of file goal_pose.h.

Member Function Documentation

void constrained_ik::constraints::GoalPose::setWeightOrientation ( const Eigen::Vector3d & weight_orientation ) [inline]

Setter for the orientation weights.

Parameters:

weight_orientation values to set the orientation weights

Definition at line 57 of file goal_pose.h.

void constrained_ik::constraints::GoalPose::setWeightPosition ( const Eigen::Vector3d & weight_position ) [inline]

Setter for the position weights.

Parameters:

weight_position value to set the position weights

Definition at line 63 of file goal_pose.h.

Orientation Constraint

Definition at line 66 of file goal_pose.h.

Positional Constraint

Definition at line 65 of file goal_pose.h.

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