Class WeightedIKSolver

Defined in File weighted_ik.h

Class Documentation

class WeightedIKSolver

Public Functions

WeightedIKSolver(const std::array<double, 7> &neutral_pose, double weight_manip, double weight_neutral, double weight_current, bool verbose = true)

WeightedIKResult solve_q7(const std::array<double, 3> &target_position, const std::array<double, 9> &target_orientation, const std::array<double, 7> &current_pose, double q7_start, double q7_end, double step_size)

WeightedIKResult solve_q7_optimized(const std::array<double, 3> &target_position, const std::array<double, 9> &target_orientation, const std::array<double, 7> &current_pose, double q7_min, double q7_max, double tolerance = 1e-6, int max_iterations = 100)

void update_weights(double weight_manip, double weight_neutral, double weight_current)

void update_neutral_pose(const std::array<double, 7> &neutral_pose)

inline const std::array<double, 7> &get_neutral_pose() const

inline void set_verbose(bool verbose)