NLOPT_IK Namespace Reference

Classes
class	NLOPT_IK

Enumerations
enum	OptType { Joint, DualQuat, SumSq, L2 }

Functions
void	constrainfuncm (uint m, double *result, uint n, const double *x, double *grad, void *data)
double	minfunc (const std::vector< double > &x, std::vector< double > &grad, void *data)
double	minfuncDQ (const std::vector< double > &x, std::vector< double > &grad, void *data)
double	minfuncL2 (const std::vector< double > &x, std::vector< double > &grad, void *data)
double	minfuncSumSquared (const std::vector< double > &x, std::vector< double > &grad, void *data)

Variables
dual_quaternion	targetDQ

Enumeration Type Documentation

OptType

enum NLOPT_IK::OptType

Enumerator
Joint
DualQuat
SumSq
L2

Definition at line 69 of file nlopt_ik.hpp.

Function Documentation

constrainfuncm()

void NLOPT_IK::constrainfuncm	(	uint	m,
		double *	result,
		uint	n,
		const double *	x,
		double *	grad,
		void *	data
	)

Definition at line 187 of file nlopt_ik.cpp.

minfunc()

double NLOPT_IK::minfunc	(	const std::vector< double > &	x,
		std::vector< double > &	grad,
		void *	data
	)

Definition at line 73 of file nlopt_ik.cpp.

minfuncDQ()

double NLOPT_IK::minfuncDQ	(	const std::vector< double > &	x,
		std::vector< double > &	grad,
		void *	data
	)

Definition at line 85 of file nlopt_ik.cpp.

minfuncL2()

double NLOPT_IK::minfuncL2	(	const std::vector< double > &	x,
		std::vector< double > &	grad,
		void *	data
	)

Definition at line 152 of file nlopt_ik.cpp.

minfuncSumSquared()

double NLOPT_IK::minfuncSumSquared	(	const std::vector< double > &	x,
		std::vector< double > &	grad,
		void *	data
	)

Definition at line 118 of file nlopt_ik.cpp.

Variable Documentation

targetDQ

dual_quaternion NLOPT_IK::targetDQ

Definition at line 71 of file nlopt_ik.cpp.