Constraint to increases dexterity when manipulator is close to singularity. More...
#include "constrained_ik/constraint.h"
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Classes | |
| class | constrained_ik::constraints::AvoidSingularities |
| Constraint to increases dexterity when manipulator is close to singularity. More... | |
| struct | constrained_ik::constraints::AvoidSingularities::AvoidSingularitiesData |
| This structure stores constraint data. More... | |
Detailed Description
Constraint to increases dexterity when manipulator is close to singularity.
Joint velocity is determined by gradient of smallest singular value Constraint is only active when smallest SV is below theshold
- 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_singularities.h.