Inheritance diagram for VirtualRobot::ConstrainedStackedIK:

Public Member Functions
	ConstrainedStackedIK (RobotPtr &robot, const RobotNodeSetPtr &nodeSet, float stepSize=0.2f, int maxIterations=1000, JacobiProvider::InverseJacobiMethod method=JacobiProvider::eSVD)

bool	initialize () override

bool	solveStep () override

Public Member Functions inherited from VirtualRobot::ConstrainedIK
	ConstrainedIK (RobotPtr &robot, const RobotNodeSetPtr &nodeSet, int maxIterations=1000, float stall_epsilon=0.0001, float raise_epsilon=0.8, bool reduceRobot=false)

void	addConstraint (const ConstraintPtr &constraint, int priority=0, bool hard_constraint=true)

void	removeConstraint (const ConstraintPtr &constraint)

std::vector< ConstraintPtr >	getConstraints ()

void	addSeed (SeedType type, const Eigen::VectorXf seed=Eigen::VectorXf())

void	clearSeeds ()

virtual bool	solve (bool stepwise=false)

void	setMaxIterations (int maxIterations)

int	getMaxIterations ()

bool	getRunning ()

int	getCurrentIteration ()

Protected Attributes
RobotNodeSetPtr	nodeSet

StackedIKPtr	ik

std::vector< JacobiProviderPtr >	jacobians

JacobiProvider::InverseJacobiMethod	method

float	stepSize

Protected Attributes inherited from VirtualRobot::ConstrainedIK
std::vector< ConstraintPtr >	constraints

std::map< ConstraintPtr, int >	priorities

std::map< ConstraintPtr, bool >	hardConstraints

RobotPtr	originalRobot

RobotPtr	robot

RobotNodeSetPtr	nodeSet

Eigen::VectorXf	initialConfig

std::vector< std::pair< SeedType, Eigen::VectorXf > >	seeds

int	maxIterations

int	currentIteration

bool	running

float	stallEpsilon

float	raiseEpsilon

Additional Inherited Members
Public Types inherited from VirtualRobot::ConstrainedIK
enum	SeedType { eSeedZero, eSeedInitial, eSeedOther }

Protected Member Functions inherited from VirtualRobot::ConstrainedIK
void	getUnitableNodes (const RobotNodePtr &robotNode, const RobotNodeSetPtr &nodeSet, std::vector< std::string > &unitable)

RobotPtr	buildReducedRobot (const RobotPtr &original)

Constructor & Destructor Documentation

◆ ConstrainedStackedIK()

ConstrainedStackedIK::ConstrainedStackedIK	(	RobotPtr &	robot,
		const RobotNodeSetPtr &	nodeSet,
		float	stepSize = `0.2f`,
		int	maxIterations = `1000`,
		JacobiProvider::InverseJacobiMethod	method = `JacobiProvider::eSVD`
	)

bool ConstrainedStackedIK::initialize ( )

overridevirtual

bool ConstrainedStackedIK::solveStep ( )

overridevirtual

StackedIKPtr VirtualRobot::ConstrainedStackedIK::ik

protected

std::vector<JacobiProviderPtr> VirtualRobot::ConstrainedStackedIK::jacobians

protected

JacobiProvider::InverseJacobiMethod VirtualRobot::ConstrainedStackedIK::method

protected

RobotNodeSetPtr VirtualRobot::ConstrainedStackedIK::nodeSet

protected

float VirtualRobot::ConstrainedStackedIK::stepSize

protected