Function pfield::weighted_ik_q7

• Defined in File weighted_ik.h

Function Documentation

WeightedIKResult pfield::weighted_ik_q7(const std::array<double, 3> &target_position, const std::array<double, 9> &target_orientation, const std::array<double, 7> &neutral_pose, const std::array<double, 7> &current_pose, double q7_start, double q7_end, double step_size, double weight_manip, double weight_neutral, double weight_current, bool verbose = true)