Basic RT components and utilities  315.12.1
Public Attributes
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

Avoid joint limit gain for inverse kinematics.

Joint weight for Inverse Kinematics calculation.

Manipulability limit for inverse kinematics.

Reference joint angles tracking gain for inverse kinematics.

SR-inverse gain for inverse kinematics.


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