bio_ik::IKJacobianBase< BASE > Struct Template Reference

Inheritance diagram for bio_ik::IKJacobianBase< BASE >:

Collaboration diagram for bio_ik::IKJacobianBase< BASE >:

Public Member Functions
	IKJacobianBase (const IKParams &p)
void	initialize (const Problem &problem)
void	optimizeJacobian (std::vector< double > &solution)

Public Attributes
std::vector< Frame >	tipObjectives
Eigen::VectorXd	tip_diffs
Eigen::VectorXd	joint_diffs
Eigen::MatrixXd	jacobian
std::vector< Frame >	tip_frames_temp

Detailed Description

template<class BASE>
struct bio_ik::IKJacobianBase< BASE >

Definition at line 42 of file ik_gradient.cpp.

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

• src/ik_gradient.cpp