constrained_ik: avoid_joint_limits.h File Reference

Constraint to avoid joint position limits. More...

#include "constrained_ik/constraint.h"
#include <vector>

Include dependency graph for avoid_joint_limits.h:

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Classes
class	constrained_ik::constraints::AvoidJointLimits
	Constraint to avoid joint position limits. More...
struct	constrained_ik::constraints::AvoidJointLimits::AvoidJointLimitsData
	This structure stores constraint data. More...
struct	constrained_ik::constraints::AvoidJointLimits::LimitsT
	Stores joint limit constraint data for a single joint. More...

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.

Author:: dsolomon

Date:: Sep 23, 2013

Version:: TODO

Bug:: No known bugs

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.h.

Classes

Detailed Description