Constraint that pushes joints back towards their starting position. More...
#include <goal_minimize_change.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError () |
| Joint velocity is difference between starting position and current position. | |
| virtual Eigen::MatrixXd | calcJacobian () |
| Jacobian is identity becasue all joints are affected. | |
| virtual bool | checkStatus () const |
| Termination criteria for singularity constraint. | |
| double | getWeight () |
| GoalMinimizeChange () | |
| void | setWeight (double weight) |
| setter for weight_ | |
| virtual | ~GoalMinimizeChange () |
Protected Attributes | |
| double | weight_ |
Detailed Description
Constraint that pushes joints back towards their starting position.
Definition at line 32 of file goal_minimize_change.h.
Constructor & Destructor Documentation
Definition at line 30 of file goal_minimize_change.cpp.
| virtual constrained_ik::constraints::GoalMinimizeChange::~GoalMinimizeChange | ( | ) | [inline, virtual] |
Definition at line 36 of file goal_minimize_change.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalMinimizeChange::calcError | ( | ) | [virtual] |
Joint velocity is difference between starting position and current position.
- Returns:
- Joint difference scaled by weight_
Implements constrained_ik::Constraint.
Definition at line 34 of file goal_minimize_change.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalMinimizeChange::calcJacobian | ( | ) | [virtual] |
Jacobian is identity becasue all joints are affected.
- Returns:
- Identity scaled by weight_
Implements constrained_ik::Constraint.
Definition at line 41 of file goal_minimize_change.cpp.
| virtual bool constrained_ik::constraints::GoalMinimizeChange::checkStatus | ( | ) | const [inline, virtual] |
Termination criteria for singularity constraint.
- Returns:
- True always (no termination criteria)
Reimplemented from constrained_ik::Constraint.
Definition at line 51 of file goal_minimize_change.h.
| double constrained_ik::constraints::GoalMinimizeChange::getWeight | ( | ) | [inline] |
| void constrained_ik::constraints::GoalMinimizeChange::setWeight | ( | double | weight | ) | [inline] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 61 of file goal_minimize_change.h.
Member Data Documentation
double constrained_ik::constraints::GoalMinimizeChange::weight_ [protected] |
Definition at line 61 of file goal_minimize_change.h.
The documentation for this class was generated from the following files: