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

#include <InverseKinematics.hpp>

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

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.