DampingManipulability Class Reference

Class implementing a method to return a factor corresponding to the measure of manipulability. More...

#include <damping.h>

Inheritance diagram for DampingManipulability:

List of all members.

Public Member Functions
	DampingManipulability (const TwistControllerParams &params)
virtual Eigen::MatrixXd	getDampingFactor (const Eigen::VectorXd &sorted_singular_values, const Eigen::MatrixXd &jacobian_data) const
	~DampingManipulability ()

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Detailed Description

Class implementing a method to return a factor corresponding to the measure of manipulability.

Definition at line 70 of file damping.h.

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Constructor & Destructor Documentation

DampingManipulability::DampingManipulability

(

const TwistControllerParams &

params

)

[inline, explicit]

Definition at line 73 of file damping.h.

DampingManipulability::~DampingManipulability

(

)

[inline]

Definition at line 77 of file damping.h.

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Member Function Documentation

Eigen::MatrixXd DampingManipulability::getDampingFactor	(	const Eigen::VectorXd &	sorted_singular_values,
		const Eigen::MatrixXd &	jacobian_data
	)		const [virtual]

Method returns the damping factor according to the manipulability measure. [Nakamura, "Advanced Robotics Redundancy and Optimization", ISBN: 0-201-15198-7, Page 268]

Implements DampingBase.

Definition at line 86 of file damping.cpp.

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

• damping.h
• damping.cpp