IKoptions Class Reference

#include <drake/systems/plants/IKoptions.h>

Public Member Functions
	IKoptions (RigidBodyTree *robot)
	IKoptions (const IKoptions &rhs)
	~IKoptions (void)
RigidBodyTree *	getRobotPtr () const
void	setQ (const Eigen::MatrixXd &Q)
void	setQa (const Eigen::MatrixXd &Qa)
void	setQv (const Eigen::MatrixXd &Qv)
void	setDebug (bool flag)
void	setSequentialSeedFlag (bool flag)
void	setMajorOptimalityTolerance (double tol)
void	setMajorFeasibilityTolerance (double tol)
void	setSuperbasicsLimit (int limit)
void	setMajorIterationsLimit (int limit)
void	setIterationsLimit (int limit)
void	setFixInitialState (bool flag)
void	setq0 (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
void	setqd0 (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
void	setqdf (const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
void	setAdditionaltSamples (const Eigen::RowVectorXd &t_samples)
void	updateRobot (RigidBodyTree *new_robot)
void	getQ (Eigen::MatrixXd &Q) const
void	getQa (Eigen::MatrixXd &Qa) const
void	getQv (Eigen::MatrixXd &Qv) const
bool	getDebug () const
bool	getSequentialSeedFlag () const
double	getMajorOptimalityTolerance () const
double	getMajorFeasibilityTolerance () const
int	getSuperbasicsLimit () const
int	getMajorIterationsLimit () const
int	getIterationsLimit () const
void	getAdditionaltSamples (Eigen::RowVectorXd &additional_tSamples) const
bool	getFixInitialState () const
void	getq0 (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
void	getqd0 (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const
void	getqdf (Eigen::VectorXd &lb, Eigen::VectorXd &ub) const

Protected Member Functions
void	setDefaultParams (RigidBodyTree *robot)

Constructor & Destructor Documentation

IKoptions ( RigidBodyTree *  robot )

explicit

IKoptions

(

const IKoptions &

rhs

)

~IKoptions

(

void

)

Member Function Documentation

void getAdditionaltSamples

(

Eigen::RowVectorXd &

additional_tSamples

)

const

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bool getDebug

(

)

const

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bool getFixInitialState

(

)

const

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int getIterationsLimit

(

)

const

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double getMajorFeasibilityTolerance

(

)

const

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int getMajorIterationsLimit

(

)

const

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double getMajorOptimalityTolerance

(

)

const

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void getQ

(

Eigen::MatrixXd &

Q

)

const

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void getq0	(	Eigen::VectorXd &	lb,
		Eigen::VectorXd &	ub
	)		const

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void getQa

(

Eigen::MatrixXd &

Qa

)

const

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void getqd0	(	Eigen::VectorXd &	lb,
		Eigen::VectorXd &	ub
	)		const

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void getqdf	(	Eigen::VectorXd &	lb,
		Eigen::VectorXd &	ub
	)		const

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void getQv

(

Eigen::MatrixXd &

Qv

)

const

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RigidBodyTree * getRobotPtr

(

)

const

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bool getSequentialSeedFlag

(

)

const

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int getSuperbasicsLimit

(

)

const

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void setAdditionaltSamples

(

const Eigen::RowVectorXd &

t_samples

)

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void setDebug

(

bool

flag

)

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void setDefaultParams ( RigidBodyTree *  robot )

protected

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void setFixInitialState

(

bool

flag

)

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void setIterationsLimit

(

int

limit

)

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void setMajorFeasibilityTolerance

(

double

tol

)

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void setMajorIterationsLimit

(

int

limit

)

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void setMajorOptimalityTolerance

(

double

tol

)

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void setQ

(

const Eigen::MatrixXd &

Q

)

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void setq0	(	const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

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void setQa

(

const Eigen::MatrixXd &

Qa

)

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void setqd0	(	const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

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void setqdf	(	const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

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void setQv

(

const Eigen::MatrixXd &

Qv

)

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void setSequentialSeedFlag

(

bool

flag

)

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void setSuperbasicsLimit

(

int

limit

)

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void updateRobot

(

RigidBodyTree *

new_robot

)

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The documentation for this class was generated from the following files:

• drake/systems/plants/IKoptions.h
• drake/systems/plants/IKoptions.cpp