R2InverseKinematicsOptions Struct Reference

Damped least-squares inverse-kinematics parameters. More...

#include <rapier.h>

Data Fields
R2Real	damping
	Nonnegative motor damping.
size_t	max_iters
	Maximum inverse-kinematics iterations.
uint8_t	constrained_axes
	Controlled-axis bitmask; translations precede rotations.
R2Real	epsilon_linear
	Linear convergence tolerance.
R2Real	epsilon_angular
	Angular convergence tolerance in radians.

Detailed Description

Damped least-squares inverse-kinematics parameters.

Field Documentation

constrained_axes

uint8_t R2InverseKinematicsOptions::constrained_axes

Controlled-axis bitmask; translations precede rotations.

damping

R2Real R2InverseKinematicsOptions::damping

Nonnegative motor damping.

epsilon_angular

R2Real R2InverseKinematicsOptions::epsilon_angular

Angular convergence tolerance in radians.

epsilon_linear

R2Real R2InverseKinematicsOptions::epsilon_linear

Linear convergence tolerance.

max_iters

size_t R2InverseKinematicsOptions::max_iters

Maximum inverse-kinematics iterations.

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

• rapier.h