CscJacobianInverseKinematic.h File Reference

#include "../Simulator/CscEnvironmentSimulator.h"
#include "CoreObjects/Exchange/Common/CscWorldElementsFactory.h"
#include "Util/conscience_util.h"
#include <bullet/Bullet3Common/b3AlignedObjectArray.h>
#include <bullet/ThirdPartyLibs/BussIK/Jacobian.h>
#include <bullet/ThirdPartyLibs/BussIK/Node.h>
#include <bullet/ThirdPartyLibs/BussIK/Tree.h>
#include <bullet/ThirdPartyLibs/BussIK/VectorRn.h>
#include <math.h>

Go to the source code of this file.

Classes
class	CscJacobianInverseKinematic
struct	CscJacobianInverseKinematic::TargetIKParams

Macros
#define	RADIAN(X)   ((X) * RadiansToDegrees)
#define	MAX_NUM_EFFECT   100
#define	PROJECTION_DISTANCE   5.0f
#define	MAX_TIME_FOR_RESET_TARGETS_IN_MS   1000

Enumerations
enum	Method {   IK_JACOB_TRANS = 0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS,   IK_DLS_SVD, NOTHING }

Macro Definition Documentation

MAX_NUM_EFFECT

#define MAX_NUM_EFFECT   100

MAX_TIME_FOR_RESET_TARGETS_IN_MS

#define MAX_TIME_FOR_RESET_TARGETS_IN_MS   1000

PROJECTION_DISTANCE

#define PROJECTION_DISTANCE   5.0f

RADIAN

#define RADIAN

(

X

)

((X) * RadiansToDegrees)

Enumeration Type Documentation

Method

enum Method

Enumerator
IK_JACOB_TRANS
IK_PURE_PSEUDO
IK_DLS
IK_SDLS
IK_DLS_SVD
NOTHING