DART  6.7.3
dart::dynamics::InverseKinematics::Analytical::Properties Struct Reference

#include <InverseKinematics.hpp>

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

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. More...
 

Public Attributes

double mComponentWiseClamp
 The component-wise clamp for this GradientMethod. More...
 
Eigen::VectorXd mComponentWeights
 The weights for this GradientMethod. More...
 
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

◆ 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.