Robotics Library  0.7.0
Public Member Functions | Public Attributes | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
rl::mdl::NloptInverseKinematics Class Reference

#include <NloptInverseKinematics.h>

Inheritance diagram for rl::mdl::NloptInverseKinematics:
Inheritance graph
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Public Member Functions

 NloptInverseKinematics (Kinematic *kinematic)
 
virtual ~NloptInverseKinematics ()
 
bool solve ()
 
- Public Member Functions inherited from rl::mdl::InverseKinematics
 InverseKinematics (Kinematic *kinematic)
 
virtual ~InverseKinematics ()
 

Public Attributes

::rl::math::Real delta
 
::std::chrono::nanoseconds duration
 
::rl::math::Real epsilonRotation
 
::rl::math::Real epsilonTranslation
 
double tolerance
 
- Public Attributes inherited from rl::mdl::InverseKinematics
::std::vector< ::std::pair< ::rl::math::Transform, ::std::size_t > > goals
 

Private Member Functions

::rl::math::Real error (const ::rl::math::Vector &q)
 

Static Private Member Functions

static void check (const nlopt_result &ret)
 
::rl::math::Real f (unsigned n, const double *x, double *grad, void *data)
 

Private Attributes

::std::uniform_real_distribution< ::rl::math::RealrandDistribution
 
::std::mt19937 randEngine
 

Additional Inherited Members

- Protected Attributes inherited from rl::mdl::InverseKinematics
Kinematickinematic
 

Constructor & Destructor Documentation

◆ NloptInverseKinematics()

rl::mdl::NloptInverseKinematics::NloptInverseKinematics ( Kinematic kinematic)

◆ ~NloptInverseKinematics()

rl::mdl::NloptInverseKinematics::~NloptInverseKinematics ( )
virtual

Member Function Documentation

◆ check()

void rl::mdl::NloptInverseKinematics::check ( const nlopt_result &  ret)
staticprivate

◆ error()

rl::math::Real rl::mdl::NloptInverseKinematics::error ( const ::rl::math::Vector q)
private

◆ f()

rl::math::Real rl::mdl::NloptInverseKinematics::f ( unsigned  n,
const double *  x,
double *  grad,
void *  data 
)
staticprivate

◆ solve()

bool rl::mdl::NloptInverseKinematics::solve ( )
virtual

Member Data Documentation

◆ delta

::rl::math::Real rl::mdl::NloptInverseKinematics::delta

◆ duration

::std::chrono::nanoseconds rl::mdl::NloptInverseKinematics::duration

◆ epsilonRotation

::rl::math::Real rl::mdl::NloptInverseKinematics::epsilonRotation

◆ epsilonTranslation

::rl::math::Real rl::mdl::NloptInverseKinematics::epsilonTranslation

◆ randDistribution

::std::uniform_real_distribution< ::rl::math::Real> rl::mdl::NloptInverseKinematics::randDistribution
private

◆ randEngine

::std::mt19937 rl::mdl::NloptInverseKinematics::randEngine
private

◆ tolerance

double rl::mdl::NloptInverseKinematics::tolerance

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