Drake
IKoptions Class Reference

#include <drake/multibody/ik_options.h>

Public Member Functions

 IKoptions (RigidBodyTree< double > *robot)
 
 IKoptions (const IKoptions &rhs)
 
 ~IKoptions (void)
 
RigidBodyTree< double > * getRobotPtr () const
 
void setQ (const Eigen::MatrixXd &Q)
 
void setQa (const Eigen::MatrixXd &Qa)
 
void setQv (const Eigen::MatrixXd &Qv)
 
void setDebug (bool flag)
 
void setSequentialSeedFlag (bool flag)
 
void setMajorOptimalityTolerance (double tol)
 
void setMajorFeasibilityTolerance (double tol)
 
void setSuperbasicsLimit (int limit)
 
void setMajorIterationsLimit (int limit)
 
void setIterationsLimit (int limit)
 
void setFixInitialState (bool flag)
 
void setq0 (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 
void setqd0 (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 
void setqdf (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 
void setAdditionaltSamples (const Eigen::RowVectorXd &t_samples)
 
void updateRobot (RigidBodyTree< double > *new_robot)
 
void getQ (Eigen::MatrixXd &Q) const
 
void getQa (Eigen::MatrixXd &Qa) const
 
void getQv (Eigen::MatrixXd &Qv) const
 
bool getDebug () const
 
bool getSequentialSeedFlag () const
 
double getMajorOptimalityTolerance () const
 
double getMajorFeasibilityTolerance () const
 
int getSuperbasicsLimit () const
 
int getMajorIterationsLimit () const
 
int getIterationsLimit () const
 
void getAdditionaltSamples (Eigen::RowVectorXd &additional_tSamples) const
 
bool getFixInitialState () const
 
void getq0 (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 
void getqd0 (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 
void getqdf (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
 

Protected Member Functions

void setDefaultParams (RigidBodyTree< double > *robot)
 

Constructor & Destructor Documentation

IKoptions ( RigidBodyTree< double > *  robot)
explicit

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IKoptions ( const IKoptions rhs)
~IKoptions ( void  )

Member Function Documentation

void getAdditionaltSamples ( Eigen::RowVectorXd &  additional_tSamples) const

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bool getDebug ( ) const

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bool getFixInitialState ( ) const

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int getIterationsLimit ( ) const

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double getMajorFeasibilityTolerance ( ) const

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int getMajorIterationsLimit ( ) const

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double getMajorOptimalityTolerance ( ) const

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void getQ ( Eigen::MatrixXd &  Q) const

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void getq0 ( Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub 
) const

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void getQa ( Eigen::MatrixXd &  Qa) const

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void getqd0 ( Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub 
) const

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void getqdf ( Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub 
) const

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void getQv ( Eigen::MatrixXd &  Qv) const

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RigidBodyTree< double > * getRobotPtr ( ) const
bool getSequentialSeedFlag ( ) const

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int getSuperbasicsLimit ( ) const

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void setAdditionaltSamples ( const Eigen::RowVectorXd &  t_samples)

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void setDebug ( bool  flag)

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void setDefaultParams ( RigidBodyTree< double > *  robot)
protected

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void setFixInitialState ( bool  flag)

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void setIterationsLimit ( int  limit)

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void setMajorFeasibilityTolerance ( double  tol)

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void setMajorIterationsLimit ( int  limit)

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void setMajorOptimalityTolerance ( double  tol)

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void setQ ( const Eigen::MatrixXd &  Q)

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void setq0 ( const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

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void setQa ( const Eigen::MatrixXd &  Qa)

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void setqd0 ( const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

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void setqdf ( const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

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void setQv ( const Eigen::MatrixXd &  Qv)

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void setSequentialSeedFlag ( bool  flag)

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void setSuperbasicsLimit ( int  limit)

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void updateRobot ( RigidBodyTree< double > *  new_robot)

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The documentation for this class was generated from the following files: