Constraint to avoid joint position limits. More...

#include "constrained_ik/constraints/avoid_obstacles.h"
#include <utility>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>

Include dependency graph for avoid_obstacles.cpp:

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Variables
const double	DEFAULT_AMPLITUDE = 0.3
const double	DEFAULT_AVOIDANCE_DISTANCE = 0.3
const double	DEFAULT_MIN_DISTANCE = 0.1
const double	DEFAULT_SHIFT = 5.0
const double	DEFAULT_WEIGHT = 1.0
const double	DEFAULT_ZERO_POINT = 10
const double	DYNAMIC_WEIGHT_FUNCTION_CONSTANT = -13.86

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:: clewis

Date:: June 2, 2015

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_obstacles.cpp.