Inheritance diagram for dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties:
Public Member Functions | |
| UniqueProperties (bool computeErrorFromCenter=true, SimpleFramePtr referenceFrame=nullptr) | |
| Default constructor. | |
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... | |
| SimpleFramePtr | mReferenceFrame |
| The reference frame that the task space region is expressed. More... | |
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.
◆ mReferenceFrame
| SimpleFramePtr dart::dynamics::InverseKinematics::TaskSpaceRegion::UniqueProperties::mReferenceFrame |
The reference frame that the task space region is expressed.
If this frame is set to nullptr, which is the default, then the parent frame of the target frame is used instead.
The documentation for this struct was generated from the following files:
- dart/dynamics/InverseKinematics.hpp
- dart/dynamics/InverseKinematics.cpp
