Constraint to dampen movement by driving joint velocity to zero in each iteration. More...
#include <goal_zero_jvel.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError () |
| Error for this constraint is 0. | |
| 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_. | |
| GoalZeroJVel () | |
| void | setWeight (double weight) |
| setter for weight_ | |
| virtual | ~GoalZeroJVel () |
Protected Attributes | |
| double | weight_ |
Detailed Description
Constraint to dampen movement by driving joint velocity to zero in each iteration.
Definition at line 32 of file goal_zero_jvel.h.
Constructor & Destructor Documentation
Definition at line 30 of file goal_zero_jvel.cpp.
| virtual constrained_ik::constraints::GoalZeroJVel::~GoalZeroJVel | ( | ) | [inline, virtual] |
Definition at line 36 of file goal_zero_jvel.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalZeroJVel::calcError | ( | ) | [virtual] |
Error for this constraint is 0.
- Returns:
- nx1 vector of zeros
Implements constrained_ik::Constraint.
Definition at line 34 of file goal_zero_jvel.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalZeroJVel::calcJacobian | ( | ) | [virtual] |
Jacobian is identity because all joints are affected.
- Returns:
- Identity scaled by weight_
Implements constrained_ik::Constraint.
Definition at line 39 of file goal_zero_jvel.cpp.
| virtual bool constrained_ik::constraints::GoalZeroJVel::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_zero_jvel.h.
| double constrained_ik::constraints::GoalZeroJVel::getWeight | ( | ) | [inline] |
| void constrained_ik::constraints::GoalZeroJVel::setWeight | ( | double | weight | ) | [inline] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 61 of file goal_zero_jvel.h.
Member Data Documentation
double constrained_ik::constraints::GoalZeroJVel::weight_ [protected] |
Definition at line 61 of file goal_zero_jvel.h.
The documentation for this class was generated from the following files: