reactive_grasping_pr2: pr2_arm_ik.cpp File Reference

#include <reactive_grasping_pr2/pr2_arm_ik.h>
#include <cmath>
#include <algorithm>

Include dependency graph for pr2_arm_ik.cpp:

Namespaces
namespace	pr2_arm_ik
Functions
float	pr2_arm_ik::cost (const VectorT &x, const VectorT &u)
void	pr2_arm_ik::costD (const VectorT &x, const VectorT &u, Deriv &d)
void	pr2_arm_ik::dynamics (const VectorT &x, const VectorT &u, VectorT &xNext)
void	pr2_arm_ik::dynamicsD (const VectorT &x, const VectorT &u, Deriv &d)
Obstacles &	pr2_arm_ik::getObstacles ()
void	pr2_arm_ik::setGoal (const VectorT &g)
void	pr2_arm_ik::setObstacles (const Obstacles &obs)
Variables
static float	pr2_arm_ik::c_b = 0.0007f
static float	pr2_arm_ik::c_p = 0.0003f
static float	pr2_arm_ik::c_u = 0.1f
static float	pr2_arm_ik::c_xT = 0.04f
static VectorT	pr2_arm_ik::goal
static float	pr2_arm_ik::h = 0.5f
static Obstacles	pr2_arm_ik::obstacles
static float	pr2_arm_ik::sigma = 0.01f
static float	pr2_arm_ik::sigma_p = 0.005f

Namespaces