Public Member Functions
	O3Helper (const OpenRAVE::KinBodyPtr body, const VarArray &vars)

void	OptimizerCallback (OptProb *, DblVec &x)

void	ConfigureOptimizer (Optimizer &)

void	AddAngVelCosts (OptProb &, double coeff)

Public Attributes
OpenRAVE::KinBodyPtr	m_body
	Class with a bunch of methods that help you optimize over orientations.

vector< IncrementalRBPtr >	m_rbs

VarArray	m_orivars

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

Public Member Functions

Public Attributes