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