Constraint to push joint to center of its range. More...
#include <goal_mid_joint.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError () |
| Desired joint velocity is difference between min-range and current position. | |
| virtual Eigen::MatrixXd | calcJacobian () |
| Jacobian is identity because all joints are affected. | |
| virtual bool | checkStatus () const |
| Termination criteria for mid-joint constraint. | |
| double | getWeight () |
| Getter for weight_. | |
| GoalMidJoint () | |
| void | init (const Constrained_IK *ik) |
| Initialize constraint (overrides Constraint::init) Initializes internal variable representing mid-range of each joint Should be called before using class. | |
| void | setWeight (double weight) |
| setter for weight_ | |
| virtual | ~GoalMidJoint () |
Protected Attributes | |
| Eigen::VectorXd | mid_range_ |
| double | weight_ |
Detailed Description
Constraint to push joint to center of its range.
Definition at line 32 of file goal_mid_joint.h.
Constructor & Destructor Documentation
Definition at line 30 of file goal_mid_joint.cpp.
| virtual constrained_ik::constraints::GoalMidJoint::~GoalMidJoint | ( | ) | [inline, virtual] |
Definition at line 36 of file goal_mid_joint.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalMidJoint::calcError | ( | ) | [virtual] |
Desired joint velocity is difference between min-range and current position.
- Returns:
- difference in joint position scaled by weight
Implements constrained_ik::Constraint.
Definition at line 34 of file goal_mid_joint.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalMidJoint::calcJacobian | ( | ) | [virtual] |
Jacobian is identity because all joints are affected.
- Returns:
- Identity scaled by weight_
Implements constrained_ik::Constraint.
Definition at line 41 of file goal_mid_joint.cpp.
| virtual bool constrained_ik::constraints::GoalMidJoint::checkStatus | ( | ) | const [inline, virtual] |
Termination criteria for mid-joint constraint.
- Returns:
- True always (no termination criteria)
Reimplemented from constrained_ik::Constraint.
Definition at line 51 of file goal_mid_joint.h.
| double constrained_ik::constraints::GoalMidJoint::getWeight | ( | ) | [inline] |
| void constrained_ik::constraints::GoalMidJoint::init | ( | const Constrained_IK * | ik | ) | [virtual] |
Initialize constraint (overrides Constraint::init) Initializes internal variable representing mid-range of each joint Should be called before using class.
- Parameters:
-
ik Pointer to Constrained_IK used for base-class init
Reimplemented from constrained_ik::Constraint.
Definition at line 48 of file goal_mid_joint.cpp.
| void constrained_ik::constraints::GoalMidJoint::setWeight | ( | double | weight | ) | [inline] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 68 of file goal_mid_joint.h.
Member Data Documentation
Eigen::VectorXd constrained_ik::constraints::GoalMidJoint::mid_range_ [protected] |
Definition at line 72 of file goal_mid_joint.h.
double constrained_ik::constraints::GoalMidJoint::weight_ [protected] |
Definition at line 68 of file goal_mid_joint.h.
The documentation for this class was generated from the following files: