bio_ik::Problem Class Reference

Classes
struct	GoalInfo

Public Types
enum	GoalType { Unknown, Position, Orientation, Pose }

Public Member Functions
void	initialize (moveit::core::RobotModelConstPtr robot_model, const moveit::core::JointModelGroup *joint_model_group, const IKParams &params, const std::vector< const Goal * > &goals2, const BioIKKinematicsQueryOptions *options)
void	initialize2 ()
double	computeGoalFitness (GoalInfo &goal, const Frame *tip_frames, const double *active_variable_positions)
double	computeGoalFitness (std::vector< GoalInfo > &goals, const Frame *tip_frames, const double *active_variable_positions)
bool	checkSolutionActiveVariables (const std::vector< Frame > &tip_frames, const double *active_variable_positions)

Public Attributes
double	timeout
std::vector< double >	initial_guess
std::vector< size_t >	active_variables
std::vector< size_t >	tip_link_indices
std::vector< GoalInfo >	goals
std::vector< GoalInfo >	secondary_goals

Detailed Description

Definition at line 52 of file problem.h.

---

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

• src/problem.h
• src/problem.cpp