Public Member Functions | Private Member Functions
UnifiedJointLimitSingularitySolver Class Reference

Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm. More...

#include <unified_joint_limit_singularity_solver.h>

Inheritance diagram for UnifiedJointLimitSingularitySolver:
Inheritance graph

List of all members.

Public Member Functions

virtual Eigen::MatrixXd solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
 UnifiedJointLimitSingularitySolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
virtual ~UnifiedJointLimitSingularitySolver ()

Private Member Functions

virtual Eigen::MatrixXd calculateWeighting (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) const

Detailed Description

Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm.

Definition at line 25 of file unified_joint_limit_singularity_solver.h.

Constructor & Destructor Documentation

UnifiedJointLimitSingularitySolver::UnifiedJointLimitSingularitySolver ( const TwistControllerParams params,
const LimiterParams limiter_params,
TaskStackController_t task_stack_controller 
) [inline]

Definition at line 28 of file unified_joint_limit_singularity_solver.h.

Definition at line 34 of file unified_joint_limit_singularity_solver.h.

Member Function Documentation

Eigen::MatrixXd UnifiedJointLimitSingularitySolver::calculateWeighting ( const Vector6d_t in_cart_velocities,
const JointStates joint_states 
) const [private, virtual]

Virtual helper method that calculates a weighting for the Jacobian to adapt joint velocity calculation for given constraints.

qThe current joint positions.
q_dotThe current joint velocities.
Diagonal weighting matrix that adapts the Jacobian.

This function returns the identity as weighting matrix for base functionality.

Definition at line 70 of file unified_joint_limit_singularity_solver.cpp.

Eigen::MatrixXd UnifiedJointLimitSingularitySolver::solve ( const Vector6d_t in_cart_velocities,
const JointStates joint_states 
) [virtual]

Specific implementation of solve-method to solve IK problem with joint limit avoidance. See base class ConstraintSolver for more details on params and returns.

Specific implementation simultaneous singularity and joint limit avoidance solver. This work is based in the general weighted least norm and unified weighted least norm methods.

Implements ConstraintSolver<>.

Definition at line 24 of file unified_joint_limit_singularity_solver.cpp.

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

Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26