dart::dynamics::InverseKinematics::Analytical::UniqueProperties Struct Reference
#include <InverseKinematics.hpp>
Inheritance diagram for dart::dynamics::InverseKinematics::Analytical::UniqueProperties:
Public Member Functions | |
| UniqueProperties (ExtraDofUtilization extraDofUtilization=UNUSED, double extraErrorLengthClamp=DefaultIKErrorClamp) | |
| Default constructor. Uses a default quality comparison function. More... | |
| UniqueProperties (ExtraDofUtilization extraDofUtilization, double extraErrorLengthClamp, QualityComparison qualityComparator) | |
| Constructor that allows you to set the quality comparison function. More... | |
| void | resetQualityComparisonFunction () |
| Reset the quality comparison function to its default behavior. More... | |
Public Attributes | |
| ExtraDofUtilization | mExtraDofUtilization |
| Flag for how to use the extra DOFs in the IK module. More... | |
| double | mExtraErrorLengthClamp |
| How much to clamp the extra error that gets applied to DOFs. More... | |
| QualityComparison | mQualityComparator |
| Function for comparing the qualities of solutions. More... | |
Constructor & Destructor Documentation
◆ UniqueProperties() [1/2]
| dart::dynamics::InverseKinematics::Analytical::UniqueProperties::UniqueProperties | ( | ExtraDofUtilization | extraDofUtilization = UNUSED, |
| double | extraErrorLengthClamp = DefaultIKErrorClamp |
||
| ) |
Default constructor. Uses a default quality comparison function.
◆ UniqueProperties() [2/2]
| dart::dynamics::InverseKinematics::Analytical::UniqueProperties::UniqueProperties | ( | ExtraDofUtilization | extraDofUtilization, |
| double | extraErrorLengthClamp, | ||
| QualityComparison | qualityComparator | ||
| ) |
Constructor that allows you to set the quality comparison function.
Member Function Documentation
◆ resetQualityComparisonFunction()
| void dart::dynamics::InverseKinematics::Analytical::UniqueProperties::resetQualityComparisonFunction | ( | ) |
Reset the quality comparison function to its default behavior.
Member Data Documentation
◆ mExtraDofUtilization
| ExtraDofUtilization dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mExtraDofUtilization |
Flag for how to use the extra DOFs in the IK module.
◆ mExtraErrorLengthClamp
| double dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mExtraErrorLengthClamp |
How much to clamp the extra error that gets applied to DOFs.
◆ mQualityComparator
| QualityComparison dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mQualityComparator |
Function for comparing the qualities of solutions.
