Simox  2.3.50
VirtualRobot::StackedIK Class Reference
Inheritance diagram for VirtualRobot::StackedIK:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW StackedIK (RobotNodeSetPtr rns, JacobiProvider::InverseJacobiMethod method=JacobiProvider::eSVD)
 
virtual ~StackedIK ()
 
Eigen::VectorXf computeStep (const std::vector< JacobiProviderPtr > &jacDefs, float stepSize=0.2f)
 
void setVerbose (bool v)
 

Protected Attributes

RobotNodeSetPtr rns
 
JacobiProvider::InverseJacobiMethod method
 
bool verbose
 

Constructor & Destructor Documentation

VirtualRobot::StackedIK::StackedIK ( VirtualRobot::RobotNodeSetPtr  rns,
JacobiProvider::InverseJacobiMethod  method = JacobiProvider::eSVD 
)
VirtualRobot::StackedIK::~StackedIK ( )
virtual

Member Function Documentation

Eigen::VectorXf VirtualRobot::StackedIK::computeStep ( const std::vector< JacobiProviderPtr > &  jacDefs,
float  stepSize = 0.2f 
)
void VirtualRobot::StackedIK::setVerbose ( bool  v)

Field Documentation

JacobiProvider::InverseJacobiMethod VirtualRobot::StackedIK::method
protected
RobotNodeSetPtr VirtualRobot::StackedIK::rns
protected
bool VirtualRobot::StackedIK::verbose
protected