constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData Struct Reference

This structure stores constraint data. More...

#include <avoid_singularities.h>

Inheritance diagram for constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData:

List of all members.

Public Member Functions
	AvoidSingularitiesData (const constrained_ik::SolverState &state, const constraints::AvoidSingularities *parent)
	see base class for documentation
Public Attributes
bool	avoidance_enabled_
Eigen::MatrixXd	jacobian_orig_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW const constraints::AvoidSingularities *	parent_
	pointer to parent class object
double	smallest_sv_
Eigen::VectorXd	Ui_
Eigen::VectorXd	Vi_

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Detailed Description

This structure stores constraint data.

Definition at line 53 of file avoid_singularities.h.

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Member Data Documentation

bool constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData::avoidance_enabled_

Is avoidance enabled

Definition at line 57 of file avoid_singularities.h.

Eigen::MatrixXd constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData::jacobian_orig_

current jacobian

Definition at line 61 of file avoid_singularities.h.

double constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData::smallest_sv_

smallest singular value

Definition at line 58 of file avoid_singularities.h.

Eigen::VectorXd constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData::Ui_

U matrix from SVD of the jacobian

Definition at line 59 of file avoid_singularities.h.

Eigen::VectorXd constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData::Vi_

V matrix from SVD of the jacobian

Definition at line 60 of file avoid_singularities.h.

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

• avoid_singularities.h
• avoid_singularities.cpp