constrained_ik::constraints::AvoidJointLimits::LimitsT Struct Reference

#include <avoid_joint_limits.h>

List of all members.

Public Member Functions
double	cubicVelRamp (double angle, double limit) const
	Calculates velocity for joint position avoidance Uses cubic function v = y-y0 = k(x-x0)^3 where k=max_vel/(joint_range/2)^3.
	LimitsT (double minPos, double maxPos, double threshold)
	Constructor for LimitsT.
Public Attributes
double	e
double	k3
double	lower_thresh
double	max_pos
double	min_pos
double	upper_thresh

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Detailed Description

Definition at line 95 of file avoid_joint_limits.h.

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Constructor & Destructor Documentation

constrained_ik::constraints::AvoidJointLimits::LimitsT::LimitsT	(	double	minPos,
		double	maxPos,
		double	threshold
	)

Constructor for LimitsT.

Parameters:

minPos	Minimum allowed joint position
maxPos	Maximum allowed joint position
threshold	Limiting threshold given as a percentage of joint range

Definition at line 156 of file avoid_joint_limits.cpp.

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Member Function Documentation

double constrained_ik::constraints::AvoidJointLimits::LimitsT::cubicVelRamp	(	double	angle,
		double	limit
	)		const

Calculates velocity for joint position avoidance Uses cubic function v = y-y0 = k(x-x0)^3 where k=max_vel/(joint_range/2)^3.

Parameters:

angle

Angle to calculate velocity for

Returns:

joint velocity to avoid joint limits

Definition at line 174 of file avoid_joint_limits.cpp.

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Member Data Documentation

double constrained_ik::constraints::AvoidJointLimits::LimitsT::e

Definition at line 102 of file avoid_joint_limits.h.

double constrained_ik::constraints::AvoidJointLimits::LimitsT::k3

Definition at line 103 of file avoid_joint_limits.h.

double constrained_ik::constraints::AvoidJointLimits::LimitsT::lower_thresh

Definition at line 100 of file avoid_joint_limits.h.

double constrained_ik::constraints::AvoidJointLimits::LimitsT::max_pos

Definition at line 98 of file avoid_joint_limits.h.

double constrained_ik::constraints::AvoidJointLimits::LimitsT::min_pos

Definition at line 97 of file avoid_joint_limits.h.

double constrained_ik::constraints::AvoidJointLimits::LimitsT::upper_thresh

Definition at line 101 of file avoid_joint_limits.h.

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

• avoid_joint_limits.h
• avoid_joint_limits.cpp