dart::dynamics::InverseKinematics::Analytical::Properties Struct Reference

#include <InverseKinematics.hpp>

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

Public Member Functions
	Properties (const GradientMethod::Properties &gradientProperties=GradientMethod::Properties(), const UniqueProperties &analyticalProperties=UniqueProperties())
	Properties (const UniqueProperties &analyticalProperties)
void	resetQualityComparisonFunction ()
	Reset the quality comparison function to its default behavior.

Public Attributes
double	mComponentWiseClamp
	The component-wise clamp for this GradientMethod.
Eigen::VectorXd	mComponentWeights
	The weights for this GradientMethod.
ExtraDofUtilization	mExtraDofUtilization
	Flag for how to use the extra DOFs in the IK module.
double	mExtraErrorLengthClamp
	How much to clamp the extra error that gets applied to DOFs.
QualityComparison	mQualityComparator
	Function for comparing the qualities of solutions.

Constructor & Destructor Documentation

Properties() [1/2]

dart::dynamics::InverseKinematics::Analytical::Properties::Properties	(	const GradientMethod::Properties &	gradientProperties = GradientMethod::Properties(),
		const UniqueProperties &	analyticalProperties = UniqueProperties()
	)

Properties() [2/2]

dart::dynamics::InverseKinematics::Analytical::Properties::Properties

(

const UniqueProperties &

analyticalProperties

)

Member Function Documentation

resetQualityComparisonFunction()

void dart::dynamics::InverseKinematics::Analytical::UniqueProperties::resetQualityComparisonFunction ( )

inherited

Reset the quality comparison function to its default behavior.

Member Data Documentation

mComponentWeights

Eigen::VectorXd dart::dynamics::InverseKinematics::GradientMethod::Properties::mComponentWeights

inherited

The weights for this GradientMethod.

mComponentWiseClamp

double dart::dynamics::InverseKinematics::GradientMethod::Properties::mComponentWiseClamp

inherited

The component-wise clamp for this GradientMethod.

mExtraDofUtilization

ExtraDofUtilization dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mExtraDofUtilization

inherited

Flag for how to use the extra DOFs in the IK module.

mExtraErrorLengthClamp

double dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mExtraErrorLengthClamp

inherited

How much to clamp the extra error that gets applied to DOFs.

mQualityComparator

QualityComparison dart::dynamics::InverseKinematics::Analytical::UniqueProperties::mQualityComparator

inherited

Function for comparing the qualities of solutions.