raisim::ArticulatedSystem::IKResult

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

Result of solveIK().

Public attributes

success

bool success

True if both the position and (if enabled) orientation tolerances were met.

iterations

int iterations

Index of the last evaluated iteration.

bestIteration

int bestIteration

Index of the iteration with the lowest residual.

residual

double residual

Combined residual: sqrt(positionResidual^2 + (orientationWeight * orientationResidual)^2).

positionResidual

double positionResidual

Frame position error norm [m].

orientationResidual

double orientationResidual

Frame orientation error norm [rad] (0 if the orientation task is disabled).

bestResidual

double bestResidual

Lowest combined residual found.

bestPositionResidual

double bestPositionResidual

Position residual of the best iterate [m].

bestOrientationResidual

double bestOrientationResidual

Orientation residual of the best iterate [rad].

solution

std::vector<double> solution

Resulting generalized coordinate. On a failure without applyBestOnFailure, this is the original one.

bestSolution

std::vector<double> bestSolution

Generalized coordinate of the best iterate.

bestFramePosition

Vec<3> bestFramePosition

World-frame position of the frame at the best iterate [m].

bestFrameOrientation

Mat<3, 3> bestFrameOrientation

World-frame orientation of the frame at the best iterate.

message

std::string message

"ok" on success; otherwise a description of the failure.