OpenHRP::StabilizerService::IKLimbParameters Struct Reference

import "StabilizerService.idl";

List of all members.

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

---

Member Data Documentation

double OpenHRP::StabilizerService::IKLimbParameters::avoid_gain

Avoid joint limit gain for inverse kinematics.

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

Joint weight for Inverse Kinematics calculation.

double OpenHRP::StabilizerService::IKLimbParameters::manipulability_limit

Manipulability limit for inverse kinematics.

double OpenHRP::StabilizerService::IKLimbParameters::reference_gain

Reference joint angles tracking gain for inverse kinematics.

double OpenHRP::StabilizerService::IKLimbParameters::sr_gain

SR-inverse gain for inverse kinematics.

---

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

• StabilizerService.idl