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Implementation of ConstraintSolver to solve inverse kinematics with joint limit avoidance Uses solve method of the WeightedLeastNormSolver
Definition at line 26 of file wln_joint_limit_avoidance_solver.h.
Constructor & Destructor Documentation
Member Function Documentation
Helper method that calculates a weighting for the Jacobian to adapt the impact on joint velocities. Overridden from base class WLNSolver
|q||The current joint positions. |
|q_dot||The current joint velocities. |
- Diagonal weighting matrix that adapts the Jacobian.
This function calculates the weighting matrix used to penalize a joint when it is near and moving towards a limit. The last joint velocity is used to determine if it that happens or not
Reimplemented from WeightedLeastNormSolver.
Definition at line 27 of file wln_joint_limit_avoidance_solver.cpp.
The documentation for this class was generated from the following files: