Struct SimpleIkOptions

Defined in File simple_ik.hpp

Struct Documentation

struct SimpleIkOptions

Options struct for simple IK solver.

Public Members

std::string group_name = "": The joint group name to be used by the solver.

size_t max_iters = 100: Max iterations for one try of the solver.

double max_time = 0.01: Max total computation time, in seconds.

size_t max_restarts = 2: Maximum number of restarts until success.

double step_size = 0.01: The integration step for the solver.

double damping = 0.001: Damping value for the Jacobian pseudoinverse.

double max_linear_error_norm = 0.001: The maximum linear error norm, in meters.

double max_angular_error_norm = 0.001: The maximum angular error norm, in radians.

bool check_collisions = true: Whether to check collisions.