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

StackedIK()

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

~StackedIK()

VirtualRobot::StackedIK::~StackedIK ( )

virtualdefault

Member Function Documentation

computeStep()

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

setVerbose()

void VirtualRobot::StackedIK::setVerbose

(

bool

v

)

Field Documentation

method

JacobiProvider::InverseJacobiMethod VirtualRobot::StackedIK::method

protected

rns

RobotNodeSetPtr VirtualRobot::StackedIK::rns

protected

verbose

bool VirtualRobot::StackedIK::verbose

protected