Robotics Library  0.7.0
JacobianInverseKinematics.h
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1 #ifndef RL_MDL_JACOBIANINVERSEKINEMATICS_H
2 #define RL_MDL_JACOBIANINVERSEKINEMATICS_H
3
4 #include <chrono>
5 #include <random>
6 #include <utility>
7
8 #include "InverseKinematics.h"
9
10 namespace rl
11 {
12  namespace mdl
13  {
15  {
16  public:
18
20
21  bool solve();
22
24
25  ::std::chrono::nanoseconds duration;
26
28
29  ::std::size_t iterations;
30
31  bool svd;
32
33  bool transpose;
34
35  protected:
36
37  private:
38  ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
39
40  ::std::mt19937 randEngine;
41  };
42  }
43 }
44
45 #endif // RL_MDL_JACOBIANINVERSEKINEMATICS_H
rl::mdl::JacobianInverseKinematics::randEngine
::std::mt19937 randEngine
Definition: JacobianInverseKinematics.h:40
rl::mdl::Kinematic
Definition: Kinematic.h:39
rl::mdl::JacobianInverseKinematics
Definition: JacobianInverseKinematics.h:15
InverseKinematics.h
rl::mdl::JacobianInverseKinematics::randDistribution
::std::uniform_real_distribution< ::rl::math::Real > randDistribution
Definition: JacobianInverseKinematics.h:38
rl::mdl::JacobianInverseKinematics::iterations
::std::size_t iterations
Definition: JacobianInverseKinematics.h:29
rl::mdl::JacobianInverseKinematics::duration
::std::chrono::nanoseconds duration
Definition: JacobianInverseKinematics.h:25
rl::mdl::JacobianInverseKinematics::solve
bool solve()
Definition: JacobianInverseKinematics.cpp:26
rl::mdl::InverseKinematics::kinematic
Kinematic * kinematic
Definition: InverseKinematics.h:25
rl::mdl::JacobianInverseKinematics::~JacobianInverseKinematics
virtual ~JacobianInverseKinematics()
Definition: JacobianInverseKinematics.cpp:21
rl::mdl::JacobianInverseKinematics::svd
bool svd
Definition: JacobianInverseKinematics.h:31
rl::mdl::JacobianInverseKinematics::JacobianInverseKinematics
JacobianInverseKinematics(Kinematic *kinematic)
Definition: JacobianInverseKinematics.cpp:8
rl::mdl::JacobianInverseKinematics::delta
::rl::math::Real delta
Definition: JacobianInverseKinematics.h:23
rl::mdl::InverseKinematics
Definition: InverseKinematics.h:14
rl::mdl::JacobianInverseKinematics::transpose
bool transpose
Definition: JacobianInverseKinematics.h:33
rl::math::Real
double Real
Definition: Real.h:42
rl::mdl::JacobianInverseKinematics::epsilon
::rl::math::Real epsilon
Definition: JacobianInverseKinematics.h:27
rl
Robotics Library.
Definition: AnalogInput.cpp:30