rl::mdl::NloptInverseKinematics Class Reference

#include <NloptInverseKinematics.h>

Inheritance diagram for rl::mdl::NloptInverseKinematics:

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::Real >	randDistribution
::std::mt19937	randEngine

Additional Inherited Members
Protected Attributes inherited from rl::mdl::InverseKinematics
Kinematic *	kinematic

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

Implements rl::mdl::InverseKinematics.

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

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

• rl/mdl/NloptInverseKinematics.h
• rl/mdl/NloptInverseKinematics.cpp