Solver settings. More...

#include <PikRos.hpp>

Public Attributes
uint32_t	max_iterations = 10000

double	err_norm_threshold = 1e-3

double	gradient_threshold = 1e-3

double	polish_gradient_threshold = 1e-2

double	dq_limit = (double)(10.0 * M_PI / 180.0)

double	polish_dq_limit = (double)(3.0 * M_PI / 180.0)

double	lin_err_clamp_magnitude = 0.2

double	ang_err_clamp_magnitude = 15.0 * M_PI / 180.0

bool	use_constrained_opt = true

bool	polish_solution = false

bool	debug_mode = false

double	timeout = 2.0

Detailed Description

Solver settings.

Member Data Documentation

◆ ang_err_clamp_magnitude

double PikRos::Settings::ang_err_clamp_magnitude = 15.0 * M_PI / 180.0

Clamp magnitude for angular tasks

◆ debug_mode

bool PikRos::Settings::debug_mode = false

Move the arm in gazebo for every step with verbose output

◆ dq_limit

double PikRos::Settings::dq_limit = (double)(10.0 * M_PI / 180.0)

dq limit

◆ err_norm_threshold

double PikRos::Settings::err_norm_threshold = 1e-3

Threshold for the sum of task error norms

◆ gradient_threshold

double PikRos::Settings::gradient_threshold = 1e-3

Threshold for the sum of task gradients

◆ lin_err_clamp_magnitude

double PikRos::Settings::lin_err_clamp_magnitude = 0.2

Clamp magnitude for linear tasks

◆ max_iterations

uint32_t PikRos::Settings::max_iterations = 10000

Maximum number of solve iterations

◆ polish_dq_limit

double PikRos::Settings::polish_dq_limit = (double)(3.0 * M_PI / 180.0)

dq limit for solution polishing

◆ polish_gradient_threshold

double PikRos::Settings::polish_gradient_threshold = 1e-2

When sum of task gradients reaches this threshold solution polishing starts

◆ timeout

double PikRos::Settings::timeout = 2.0

Solver timeout in seconds

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

include/PikRos.hpp

Public Attributes