The Config struct. More...

#include <kdl_inv_kin_chain_lma.h>

Public Attributes
double	eps { 1E-5 }

double	eps_joints { 1E-15 }

int	max_iterations { 500 }

std::array< double, 6 >	task_weights { 1.0, 1.0, 1.0, 0.1, 0.1, 0.1 }

Detailed Description

The Config struct.

This contains parameters that can be used to customize the KDL solver for your application. They are ultimately passed to the constuctor of the underlying ChainIkSolver.

The defaults provided here are the same defaults imposed by the KDL library.

Definition at line 65 of file kdl_inv_kin_chain_lma.h.

Member Data Documentation

◆ eps

double tesseract_kinematics::KDLInvKinChainLMA::Config::eps { 1E-5 }

Definition at line 68 of file kdl_inv_kin_chain_lma.h.

◆ eps_joints

double tesseract_kinematics::KDLInvKinChainLMA::Config::eps_joints { 1E-15 }

Definition at line 70 of file kdl_inv_kin_chain_lma.h.

◆ max_iterations

int tesseract_kinematics::KDLInvKinChainLMA::Config::max_iterations { 500 }

Definition at line 69 of file kdl_inv_kin_chain_lma.h.

◆ task_weights

std::array<double, 6> tesseract_kinematics::KDLInvKinChainLMA::Config::task_weights { 1.0, 1.0, 1.0, 0.1, 0.1, 0.1 }

Definition at line 67 of file kdl_inv_kin_chain_lma.h.

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