Constraint to avoid joint position limits. More...
#include "constrained_ik/constraints/avoid_joint_limits.h"#include "constrained_ik/constrained_ik.h"#include <ros/ros.h>#include <pluginlib/class_list_macros.h>
Include dependency graph for avoid_joint_limits.cpp:
Go to the source code of this file.
Functions | |
| template<class T > | |
| std::ostream & | constrained_ik::constraints::operator<< (std::ostream &os, const std::vector< T > &v) |
| Write std::vector to cout. | |
Variables | |
| const double | DEFAULT_THRESHOLD = 0.05 |
| const double | DEFAULT_WEIGHT = 1.0 |
Detailed Description
Constraint to avoid joint position limits.
Using cubic velocity ramp, it pushes each joint away from its limits, with a maximimum velocity of 2*threshold*(joint range). Only affects joints that are within theshold of joint limit.
- Date:
- Sep 23, 2013
- Version:
- TODO
- Bug:
- No known bugs
- Copyright:
- Copyright (c) 2013, Southwest Research Institute
- License
- Software License Agreement (Apache License)
- Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
Definition in file avoid_joint_limits.cpp.
Variable Documentation
| const double DEFAULT_THRESHOLD = 0.05 |
Default threshold
Definition at line 36 of file avoid_joint_limits.cpp.
| const double DEFAULT_WEIGHT = 1.0 |
Default weight
Definition at line 37 of file avoid_joint_limits.cpp.