raisim::ArticulatedSystem::IKOptions

struct · #include <raisim/object/ArticulatedSystem/ArticulatedSystem.hpp>

Options for solveIK().

Public attributes

maxIterations

int maxIterations

Maximum number of solver updates (at least 1 is used).

positionTolerance

double positionTolerance

Success threshold on the frame position error [m].

orientationTolerance

double orientationTolerance

Success threshold on the frame orientation error (rotation-vector norm) [rad]. Used only with useOrientation.

orientationWeight

double orientationWeight

Weight of the orientation error relative to the position error. 0 disables the orientation task.

damping

double damping

Damping factor of the "dls" method (lambda; lambda^2 is added to J*J^T).

stepSize

double stepSize

Scale applied to each update.

maxStep

double maxStep

The largest absolute component of each generalized-velocity-space update is clamped to this value.

svdTolerance

double svdTolerance

Eigenvalue cutoff (applied as svdTolerance^2 to J*J^T) of the "pinv" and "svd" methods.

finiteDifferenceStep

double finiteDifferenceStep

Step used to compute the rotational Jacobian columns by finite differences.

useOrientation

bool useOrientation

If true, the orientation target is also tracked.

applySolution

bool applySolution

If true, the converged solution is written to the system's generalized coordinate. Otherwise, the generalized coordinate is restored to its value before the call.

applyBestOnFailure

bool applyBestOnFailure

If true (and applySolution is true), the best iterate is applied when the solver does not converge. Otherwise, a failed solve restores the original generalized coordinate.

enforceJointLimits

bool enforceJointLimits

If true, revolute/prismatic joints with a position limit are clamped to it after every update.

inverseMethod

std::string inverseMethod

Update rule: "dls" (damped least squares), "pinv"/"svd" (pseudo-inverse), or "transpose" (Jacobian transpose).

transposeGain

double transposeGain

Gain of the "transpose" method.

seed

std::vector<double> seed

Optional initial generalized coordinate (size getGeneralizedCoordinateDim()). Empty means the current state.