Public Member Functions | Public Attributes | List of all members
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::Linktarget_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.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:53