ConstraintRelaxingIk::IkCartesianWaypoint Struct Reference

Detailed Description

Cartesian waypoint.

Input to the IK solver.

#include <drake/multibody/inverse_kinematics/constraint_relaxing_ik.h>

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

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

math::RigidTransformd pose

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.

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

• drake/multibody/inverse_kinematics/constraint_relaxing_ik.h