Basic RT components and utilities  315.15.0
Public Attributes | List of all members
OpenHRP::AutoBalancerService::IKLimbParameters Struct Reference

import"AutoBalancerService.idl";

Public Attributes

sequence< double > ik_optional_weight_vector
 Joint weight for Inverse Kinematics calculation. More...
 
double sr_gain
 SR-inverse gain for inverse kinematics. More...
 
double avoid_gain
 Avoid joint limit gain for inverse kinematics. More...
 
double reference_gain
 Reference joint angles tracking gain for inverse kinematics. More...
 
double manipulability_limit
 Manipulability limit for inverse kinematics. More...
 

Member Data Documentation

◆ avoid_gain

double OpenHRP::AutoBalancerService::IKLimbParameters::avoid_gain

Avoid joint limit gain for inverse kinematics.

◆ ik_optional_weight_vector

sequence<double> OpenHRP::AutoBalancerService::IKLimbParameters::ik_optional_weight_vector

Joint weight for Inverse Kinematics calculation.

◆ manipulability_limit

double OpenHRP::AutoBalancerService::IKLimbParameters::manipulability_limit

Manipulability limit for inverse kinematics.

◆ reference_gain

double OpenHRP::AutoBalancerService::IKLimbParameters::reference_gain

Reference joint angles tracking gain for inverse kinematics.

◆ sr_gain

double OpenHRP::AutoBalancerService::IKLimbParameters::sr_gain

SR-inverse gain for inverse kinematics.


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