Drake
ConstraintRelaxingIk::IkCartesianWaypoint Struct Reference

Cartesian waypoint. More...

#include <drake/manipulation/planner/constraint_relaxing_ik.h>

Public Attributes

Isometry3< doublepose {Isometry3<double>::Identity()}
 Desired end effector pose in the world frame. More...
 
Vector3< doublepos_tol {Vector3<double>(0.005, 0.005, 0.005)}
 Bounding box for the end effector in the world frame. More...
 
double rot_tol {0.05}
 Max angle difference (in radians) between solved end effector's orientation and the desired. More...
 
bool constrain_orientation {false}
 Signals if orientation constraint is enabled. More...
 

Detailed Description

Cartesian waypoint.

Input to the IK solver.

Member Data Documentation

◆ constrain_orientation

bool constrain_orientation {false}

Signals if orientation constraint is enabled.

◆ pos_tol

Vector3<double> pos_tol {Vector3<double>(0.005, 0.005, 0.005)}

Bounding box for the end effector in the world frame.

◆ pose

Isometry3<double> pose {Isometry3<double>::Identity()}

Desired end effector pose in the world frame.

◆ rot_tol

double rot_tol {0.05}

Max angle difference (in radians) between solved end effector's orientation and the desired.


The documentation for this struct was generated from the following file: