parameters for the inverse kinematics function
- Parameters
-
| damp | damping added to the diagonal of J*Jt in order to avoid the singularity |
| alpha | alpha €]0,1], it is used to make Newthon-Raphson method less aggressive |
| gamma | gamma €]0,1], represents the strength of the repulsive potential field in the Clamping Weighted Least-Norm method |
| margin | the distance from the joint limit at which the joint positions should be penalized (rad) |
| tolerance | the maximum error tolerated between the desired cartesian state and the one obtained by the returned joint positions |
| max_number_of_iterations | the maximum number of iterations that the algorithm do for solving the inverse kinematics |
Definition at line 32 of file Model.hpp.
