dart::dynamics::InverseKinematics::TaskSpaceRegion::Properties Struct Reference

#include <InverseKinematics.hpp>

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

Public Member Functions
	Properties (const ErrorMethod::Properties &errorProperties=ErrorMethod::Properties(), const UniqueProperties &taskSpaceProperties=UniqueProperties())
	Default constructor. More...

Public Attributes
std::pair< Eigen::Vector6d, Eigen::Vector6d >	mBounds
	Bounds that define the acceptable range of the Node's transform relative to its target frame. More...
double	mErrorLengthClamp
	The error vector will be clamped to this length with each iteration. More...
Eigen::Vector6d	mErrorWeights
	These weights will be applied to the error vector component-wise. More...
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

Properties()

dart::dynamics::InverseKinematics::TaskSpaceRegion::Properties::Properties	(	const ErrorMethod::Properties &	errorProperties = ErrorMethod::Properties(),
		const UniqueProperties &	taskSpaceProperties = UniqueProperties()
	)

Default constructor.

Member Data Documentation

mBounds

std::pair<Eigen::Vector6d, Eigen::Vector6d> dart::dynamics::InverseKinematics::ErrorMethod::Properties::mBounds

inherited

Bounds that define the acceptable range of the Node's transform relative to its target frame.

mComputeErrorFromCenter

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

inherited

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.

mErrorLengthClamp

double dart::dynamics::InverseKinematics::ErrorMethod::Properties::mErrorLengthClamp

inherited

The error vector will be clamped to this length with each iteration.

This is used to enforce sane behavior, even when there are extremely large error vectors.

mErrorWeights

Eigen::Vector6d dart::dynamics::InverseKinematics::ErrorMethod::Properties::mErrorWeights

inherited

These weights will be applied to the error vector component-wise.

This allows you to set some components of error as more important than others, or to scale their coordinate spaces. For example, you will often want the first three components (orientation error) to have smaller weights than the last three components (translation error).

mReferenceFrame

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

inherited

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.