DART  6.7.3
dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties Struct Reference

#include <InverseKinematics.hpp>

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

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.