SimpleFullbodyInverseKinematicsSolver::IKparam Struct Reference

#include <SimpleFullbodyInverseKinematicsSolver.h>

Public Member Functions
	IKparam ()

Public Attributes
double	avoid_gain
bool	is_ik_enable
double	limb_length_margin
hrp::Vector3	localPos
hrp::Matrix33	localR
hrp::JointPathExPtr	manip
double	max_limb_length
std::string	parent_name
size_t	pos_ik_error_count
double	reference_gain
size_t	rot_ik_error_count
hrp::Link *	target_link
hrp::Vector3	target_p0
hrp::Matrix33	target_r0

Detailed Description

Definition at line 25 of file SimpleFullbodyInverseKinematicsSolver.h.

Constructor & Destructor Documentation

SimpleFullbodyInverseKinematicsSolver::IKparam::IKparam ( )

inline

Definition at line 44 of file SimpleFullbodyInverseKinematicsSolver.h.

Member Data Documentation

double SimpleFullbodyInverseKinematicsSolver::IKparam::avoid_gain

Definition at line 35 of file SimpleFullbodyInverseKinematicsSolver.h.

bool SimpleFullbodyInverseKinematicsSolver::IKparam::is_ik_enable

Definition at line 39 of file SimpleFullbodyInverseKinematicsSolver.h.

double SimpleFullbodyInverseKinematicsSolver::IKparam::limb_length_margin

Definition at line 43 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Vector3 SimpleFullbodyInverseKinematicsSolver::IKparam::localPos

Definition at line 30 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Matrix33 SimpleFullbodyInverseKinematicsSolver::IKparam::localR

Definition at line 31 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::JointPathExPtr SimpleFullbodyInverseKinematicsSolver::IKparam::manip

Definition at line 34 of file SimpleFullbodyInverseKinematicsSolver.h.

double SimpleFullbodyInverseKinematicsSolver::IKparam::max_limb_length

Definition at line 43 of file SimpleFullbodyInverseKinematicsSolver.h.

std::string SimpleFullbodyInverseKinematicsSolver::IKparam::parent_name

Definition at line 41 of file SimpleFullbodyInverseKinematicsSolver.h.

size_t SimpleFullbodyInverseKinematicsSolver::IKparam::pos_ik_error_count

Definition at line 37 of file SimpleFullbodyInverseKinematicsSolver.h.

double SimpleFullbodyInverseKinematicsSolver::IKparam::reference_gain

Definition at line 35 of file SimpleFullbodyInverseKinematicsSolver.h.

size_t SimpleFullbodyInverseKinematicsSolver::IKparam::rot_ik_error_count

Definition at line 37 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Link* SimpleFullbodyInverseKinematicsSolver::IKparam::target_link

Definition at line 32 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Vector3 SimpleFullbodyInverseKinematicsSolver::IKparam::target_p0

Definition at line 27 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Matrix33 SimpleFullbodyInverseKinematicsSolver::IKparam::target_r0

Definition at line 28 of file SimpleFullbodyInverseKinematicsSolver.h.

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

• SimpleFullbodyInverseKinematicsSolver.h