ik_solver.cpp
/tmp/ws/src/exotica/exotations/solvers/exotica_ik_solver/src/
ik__solver_8cpp.html
exotica_ik_solver/ik_solver.h
exotica
ik_solver.h
/tmp/ws/src/exotica/exotations/solvers/exotica_ik_solver/include/exotica_ik_solver/
ik__solver_8h.html
exotica::IKSolver
exotica
exotica::IKSolver
classexotica_1_1IKSolver.html
exotica::MotionSolver
Instantiable< IKSolverInitializer >
void
Solve
classexotica_1_1IKSolver.html
a41f151095b609e3acb56260cca17089e
(Eigen::MatrixXd &solution) override
void
SpecifyProblem
classexotica_1_1IKSolver.html
a0a3733075b3403c159c6facccd9ff4a2
(PlanningProblemPtr pointer) override
void
DecreaseRegularization
classexotica_1_1IKSolver.html
ad8e926e7385967a03495fb146bacf728
()
void
IncreaseRegularization
classexotica_1_1IKSolver.html
aaae517aed97e881cb74c2b006b0d3ca9
()
void
PrintDebug
classexotica_1_1IKSolver.html
a991b2b3bc6dcc36954928aca15ee6a7f
(const int i)
void
ScaleToStepSize
classexotica_1_1IKSolver.html
ade7d59bb8b7b3c3bca3e5e07b01e6028
(Eigen::VectorXdRef xd)
Eigen::VectorXd
alpha_space_
classexotica_1_1IKSolver.html
a6c37d1e5b6e4f14c859c5d887ac9df71
Eigen::MatrixXd
cost_jacobian_
classexotica_1_1IKSolver.html
a721a034346abf6ff583ae3f27e9e6429
double
error_
classexotica_1_1IKSolver.html
ad354b119505ae4ef163e2b226ba20922
double
error_prev_
classexotica_1_1IKSolver.html
ab671eec699ca8bd2e2afff85afd286be
Eigen::LLT< Eigen::MatrixXd >
J_decomposition_
classexotica_1_1IKSolver.html
a4065d659cbbca0b27f41fe7e6f6c9f0c
Eigen::MatrixXd
J_pseudo_inverse_
classexotica_1_1IKSolver.html
a30e5d59b89ce45b805a27a900409afc6
Eigen::MatrixXd
J_tmp_
classexotica_1_1IKSolver.html
afa2882f31189bec81f049280df8af5d3
double
lambda_
classexotica_1_1IKSolver.html
ae338dd3127e77e312b88ee602698d963
UnconstrainedEndPoseProblemPtr
prob_
classexotica_1_1IKSolver.html
afd4a17a8f81af27327b401f718cb836b
Eigen::VectorXd
q_
classexotica_1_1IKSolver.html
a523220573fd8d21fad3353fd639b0d37
Eigen::VectorXd
qd_
classexotica_1_1IKSolver.html
a202647e8db2c36dfa02bb464cea86826
double
regfactor_
classexotica_1_1IKSolver.html
aeb521f5af742556c763e23c99318373d
double
regmax_
classexotica_1_1IKSolver.html
a1cf1af66a22bbdc6752fb4555104c85f
double
regmin_
classexotica_1_1IKSolver.html
a989d6660aeb2f6f2c3a57843223630d7
double
step_
classexotica_1_1IKSolver.html
accba4afd41d3835cfaffa7cd64111bd5
double
steplength_
classexotica_1_1IKSolver.html
a473cd9b6c979d59e8096b768382e1ef8
double
stop_
classexotica_1_1IKSolver.html
a8b2073a4dac4e9b7583476636f15e301
double
th_stepdec_
classexotica_1_1IKSolver.html
a7cadc6ad10e5d7267b147025d87177d5
double
th_stepinc_
classexotica_1_1IKSolver.html
a3d0c8a9d5eae3909c07d481b8cb83ce2
double
th_stop_
classexotica_1_1IKSolver.html
ab02cb58954231f2d40637e511887b4ff
Eigen::MatrixXd
W_inv_
classexotica_1_1IKSolver.html
a98c58376d7de26e1fb98b29f481d52a8
Eigen::VectorXd
yd_
classexotica_1_1IKSolver.html
a5a3a658de2f8ad07f4d724a149159925
exotica
namespaceexotica.html
exotica::IKSolver