dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties Struct Reference

#include <InverseKinematics.hpp>

Inheritance diagram for dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties:

Public Member Functions
	UniqueProperties (bool computeErrorFromCenter=true, SimpleFramePtr referenceFrame=nullptr)
	Default constructor. More...

Public Attributes
bool	mComputeErrorFromCenter
	Setting this to true (which is default) will tell it to compute the error based on the center of the Task Space Region instead of the edge of the Task Space Region. More...
SimpleFramePtr	mReferenceFrame
	The reference frame that the task space region is expressed. More...

Constructor & Destructor Documentation

UniqueProperties()

dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties::UniqueProperties	(	bool	computeErrorFromCenter = true,
		SimpleFramePtr	referenceFrame = nullptr
	)

Default constructor.

Member Data Documentation

mComputeErrorFromCenter

bool dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties::mComputeErrorFromCenter

Setting this to true (which is default) will tell it to compute the error based on the center of the Task Space Region instead of the edge of the Task Space Region.

This often results in faster convergence, as the Node will enter the Task Space Region more aggressively.

Once the Node is inside the Task Space Region, the error vector will drop to zero, regardless of whether this flag is true or false.

mReferenceFrame

SimpleFramePtr dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties::mReferenceFrame

The reference frame that the task space region is expressed.

If this frame is set to nullptr, which is the default, then the parent frame of the target frame is used instead.