Struct WeightedIKResult

Defined in File weighted_ik.h

Struct Documentation

struct WeightedIKResult

Public Members

bool success

std::array<double, 7> joint_angles

double q7_optimal

double score

double manipulability

double neutral_distance

double current_distance

int solution_index

std::array<std::array<double, 6>, 7> jacobian

int total_solutions_found

int valid_solutions_count

int q7_values_tested

int optimization_iterations

long duration_microseconds