HierarchicalIKSolver Class Reference
Inheritance diagram for HierarchicalIKSolver:
Public Member Functions | |
| HierarchicalIKSolver (RobotNodeSetPtr allRobotNodes) | |
| bool | solveIK (float stepSize=0.2, float minChange=0.0, int maxSteps=50) |
| bool | computeSteps (float stepSize, float minChange, int maxSteps) |
| void | addIK (JacobiProviderPtr jacProvider) |
| bool | checkTolerances () |
| void | clearIKs () |
 Public Member Functions inherited from VirtualRobot::HierarchicalIK | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | HierarchicalIK (RobotNodeSetPtr rns, JacobiProvider::InverseJacobiMethod method=JacobiProvider::eSVD) |
| virtual | ~HierarchicalIK () |
| Eigen::VectorXf | computeStep (const std::vector< JacobiProviderPtr > &jacDefs, float stepSize=0.2f) |
| void | setVerbose (bool v) |
Protected Attributes | |
| std::vector< JacobiProviderPtr > | jacobies |
| Protected Attributes inherited from VirtualRobot::HierarchicalIK | |
| RobotNodeSetPtr | rns |
| bool | verbose |
| JacobiProvider::InverseJacobiMethod | method |
Constructor & Destructor Documentation
◆ HierarchicalIKSolver()
| HierarchicalIKSolver::HierarchicalIKSolver | ( | RobotNodeSetPtr | allRobotNodes | ) |
Member Function Documentation
◆ addIK()
| void HierarchicalIKSolver::addIK | ( | JacobiProviderPtr | jacProvider | ) |
◆ checkTolerances()
| bool HierarchicalIKSolver::checkTolerances | ( | ) |
◆ clearIKs()
| void HierarchicalIKSolver::clearIKs | ( | ) |
◆ computeSteps()
| bool HierarchicalIKSolver::computeSteps | ( | float | stepSize, |
| float | minChange, | ||
| int | maxSteps | ||
| ) |
◆ solveIK()
| bool HierarchicalIKSolver::solveIK | ( | float | stepSize = 0.2, |
| float | minChange = 0.0, |
||
| int | maxSteps = 50 |
||
| ) |
Field Documentation
◆ jacobies
|
protected |
