DART  6.10.1
dart::dynamics::InverseKinematics::Analytical::Solution Struct Reference

#include <InverseKinematics.hpp>

Public Member Functions

 Solution (const Eigen::VectorXd &_config=Eigen::VectorXd(), int _validity=VALID)
 Default constructor. More...
 

Public Attributes

Eigen::VectorXd mConfig
 Configuration computed by the Analytical solver. More...
 
int mValidity
 Bitmap for whether this configuration is valid. More...
 

Constructor & Destructor Documentation

◆ Solution()

dart::dynamics::InverseKinematics::Analytical::Solution::Solution ( const Eigen::VectorXd &  _config = Eigen::VectorXd(),
int  _validity = VALID 
)

Default constructor.

Member Data Documentation

◆ mConfig

Eigen::VectorXd dart::dynamics::InverseKinematics::Analytical::Solution::mConfig

Configuration computed by the Analytical solver.

◆ mValidity

int dart::dynamics::InverseKinematics::Analytical::Solution::mValidity

Bitmap for whether this configuration is valid.

Bitwise-compare it to the enumerations in Validity_t to whether this configuration is valid.