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)
	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...

Constructor & Destructor Documentation

UniqueProperties()

dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties::UniqueProperties

(

bool

computeErrorFromCenter = true

)

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.