The Config struct. More...

#include <kdl_inv_kin_chain_nr_jl.h>

Public Attributes
double	pos_eps { 1e-6 }

int	pos_iterations { 100 }

double	vel_eps { 0.00001 }

int	vel_iterations { 150 }

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 constuctors of the underlying ChainIkSolver. The NR version creates both position and velocity solvers with different defaults for each.

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

Definition at line 67 of file kdl_inv_kin_chain_nr_jl.h.

Member Data Documentation

◆ pos_eps

double tesseract_kinematics::KDLInvKinChainNR_JL::Config::pos_eps { 1e-6 }

Definition at line 71 of file kdl_inv_kin_chain_nr_jl.h.

◆ pos_iterations

int tesseract_kinematics::KDLInvKinChainNR_JL::Config::pos_iterations { 100 }

Definition at line 72 of file kdl_inv_kin_chain_nr_jl.h.

◆ vel_eps

double tesseract_kinematics::KDLInvKinChainNR_JL::Config::vel_eps { 0.00001 }

Definition at line 69 of file kdl_inv_kin_chain_nr_jl.h.

◆ vel_iterations

int tesseract_kinematics::KDLInvKinChainNR_JL::Config::vel_iterations { 150 }

Definition at line 70 of file kdl_inv_kin_chain_nr_jl.h.

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