Function class that returns the position/rotation errors associated with a given IKGoal. More...
#include <IKFunctions.h>
Inheritance diagram for IKGoalFunction:
Public Member Functions | |
| IKGoalFunction (RobotKinematics3D &, const IKGoal &, const ArrayMapping &activeDofs) | |
| int | GetDOF (int dim) const |
| virtual std::string | Label () const |
| virtual std::string | Label (int i) const |
| virtual int | NumDimensions () const |
| virtual void | PreEval (const Vector &x) |
| virtual void | Eval (const Vector &x, Vector &r) |
| virtual Real | Eval_i (const Vector &x, int i) |
| virtual void | Jacobian (const Vector &x, Matrix &J) |
| virtual void | Jacobian_i (const Vector &x, int i, Vector &Ji) |
| virtual void | Hessian_i (const Vector &x, int i, Matrix &Hi) |
| void | UpdateEEPos () |
| void | UpdateEERot () |
Public Attributes | |
| RobotKinematics3D & | robot |
| const IKGoal & | goal |
| const ArrayMapping & | activeDofs |
| Real | positionScale |
| Real | rotationScale |
| DirtyData< Vector3 > | eepos |
| DirtyData< Matrix3 > | eerot |
| DirtyData< std::vector< Matrix > > | H |
Detailed Description
Function class that returns the position/rotation errors associated with a given IKGoal.
An individual component of a RobotIKFunction. Requres robot.q to be set, and the chain updated before PreEval is called.
Member Function Documentation
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virtual |
!! Why half??? !!!
References Math::dot(), and Math3D::Vector3::getOrthogonalBasis().
The documentation for this struct was generated from the following files:
- IKFunctions.h
- IKFunctions.cpp
