constrained_ik::ConstrainedIKConfiguration Struct Reference

The constrained IK solver configuration parameters. More...

#include <constrained_ik_utils.h>

List of all members.

Public Attributes
bool	allow_auxiliary_nomalization
bool	allow_joint_convergence
bool	allow_primary_normalization
double	auxiliary_gain
int	auxiliary_max_iterations
double	auxiliary_max_motion
double	auxiliary_norm
bool	debug_mode
double	joint_convergence_tol
bool	limit_auxiliary_interations
bool	limit_auxiliary_motion
bool	limit_primary_motion
double	primary_gain
double	primary_max_motion
double	primary_norm
int	solver_max_iterations
int	solver_min_iterations

---

Detailed Description

The constrained IK solver configuration parameters.

Definition at line 36 of file constrained_ik_utils.h.

---

Member Data Documentation

bool constrained_ik::ConstrainedIKConfiguration::allow_auxiliary_nomalization

Allow the solver to normalize auxiliary motion.

Definition at line 41 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::allow_joint_convergence

Allow the solver to converge based on joint convergence.

Definition at line 39 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::allow_primary_normalization

Allow the solver to normalize primary motion.

Definition at line 40 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::auxiliary_gain

Solver's auxiliary motion update gain.

Definition at line 53 of file constrained_ik_utils.h.

int constrained_ik::ConstrainedIKConfiguration::auxiliary_max_iterations

Auxiliary's maximum number of iteration allowed.

Definition at line 47 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::auxiliary_max_motion

Auxiliary's maximum motion allowed.

Definition at line 49 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::auxiliary_norm

Normalize auxiliary motion to set value.

Definition at line 51 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::debug_mode

Set the solver to a debug state.

Definition at line 38 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::joint_convergence_tol

Solver's joint convergence tolerance.

Definition at line 54 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::limit_auxiliary_interations

Allow the solver to limit the number of auxiliary interation.

Definition at line 44 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::limit_auxiliary_motion

Allow the solver to limit the auxiliary motion.

Definition at line 43 of file constrained_ik_utils.h.

bool constrained_ik::ConstrainedIKConfiguration::limit_primary_motion

Allow the solver to limit the primary motion.

Definition at line 42 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::primary_gain

Solver's primary motion update gain.

Definition at line 52 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::primary_max_motion

Primary's maximum motion allowed.

Definition at line 48 of file constrained_ik_utils.h.

double constrained_ik::ConstrainedIKConfiguration::primary_norm

Normalize primary motion to set value.

Definition at line 50 of file constrained_ik_utils.h.

int constrained_ik::ConstrainedIKConfiguration::solver_max_iterations

Solver's maximum number of iterations allowed.

Definition at line 45 of file constrained_ik_utils.h.

int constrained_ik::ConstrainedIKConfiguration::solver_min_iterations

Solver's minimum number of iterations required.

Definition at line 46 of file constrained_ik_utils.h.

---

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

• constrained_ik_utils.h