flexiv::rdk::IKParams Struct Reference

Per-joint-group IK input parameters for SolveConstrainedIK(). More...

#include <model.hpp>

Public Attributes
std::array< double, kPoseSize >	cartesian_pose = {}
std::vector< double >	seed_q = {}
bool	free_orientation = false

Detailed Description

Per-joint-group IK input parameters for SolveConstrainedIK().

Definition at line 19 of file model.hpp.

Member Data Documentation

cartesian_pose

std::array<double, kPoseSize> flexiv::rdk::IKParams::cartesian_pose = {}

Cartesian pose to be solved.

Definition at line 22 of file model.hpp.

free_orientation

bool flexiv::rdk::IKParams::free_orientation = false

Whether to only constrain Cartesian position and allow orientation to vary.

Definition at line 28 of file model.hpp.

seed_q

std::vector<double> flexiv::rdk::IKParams::seed_q = {}

Seed joint positions for IK solver. Unit: [rad].

Definition at line 25 of file model.hpp.

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

• include/flexiv/rdk/model.hpp