Constraint to avoid joint position limits. More...
#include <avoid_joint_limits.h>
Classes | |
| struct | AvoidJointLimitsData |
| This structure stores constraint data. More... | |
| struct | LimitsT |
| Stores joint limit constraint data for a single joint. More... | |
Public Member Functions | |
| virtual Eigen::VectorXd | calcError (const AvoidJointLimitsData &cdata) const |
| Creates vector representing velocity error term corresponding to calcJacobian() | |
| virtual Eigen::MatrixXd | calcJacobian (const AvoidJointLimitsData &cdata) const |
| Creates jacobian rows corresponding to joint velocity limit avoidance Each limited joint gets a 0 row with a 1 in that joint's column. | |
| virtual bool | checkStatus (const AvoidJointLimitsData &cdata) const |
| Checks termination criteria There are no termination criteria for this constraint. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
| virtual double | getThreshold () const |
| getter for threshold_ | |
| virtual double | getWeight () const |
| getter for weight_ | |
| void | init (const Constrained_IK *ik) override |
| Initialize constraint (overrides Constraint::init) Initializes internal limit variables Should be called before using class. | |
| void | loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override |
| see base class for documentation | |
| virtual void | setThreshold (const double &threshold) |
| setter for threshold_ | |
| virtual void | setWeight (const double &weight) |
| setter for weight_ | |
Protected Attributes | |
| std::vector< LimitsT > | limits_ |
| vector holding joint limit data | |
| double | threshold_ |
| threshold (% of range) at which to engage limit avoidance | |
| double | weight_ |
| weights used to scale the jocabian and error | |
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.
- Examples:
- All examples are located here Avoid Joint Limit Constraint Examples
Definition at line 52 of file avoid_joint_limits.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::AvoidJointLimits::calcError | ( | const AvoidJointLimitsData & | cdata | ) | const [virtual] |
Creates vector representing velocity error term corresponding to calcJacobian()
- Parameters:
-
cdata The constraint specific data.
- Returns:
- VectorXd of joint velocities for joint limit avoidance
Definition at line 61 of file avoid_joint_limits.cpp.
| Eigen::MatrixXd constrained_ik::constraints::AvoidJointLimits::calcJacobian | ( | const AvoidJointLimitsData & | cdata | ) | const [virtual] |
Creates jacobian rows corresponding to joint velocity limit avoidance Each limited joint gets a 0 row with a 1 in that joint's column.
- Parameters:
-
cdata The constraint specific data
- Returns:
- Pseudo-Identity scaled by weight_
Definition at line 95 of file avoid_joint_limits.cpp.
| virtual bool constrained_ik::constraints::AvoidJointLimits::checkStatus | ( | const AvoidJointLimitsData & | cdata | ) | const [inline, virtual] |
Checks termination criteria There are no termination criteria for this constraint.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- True
Definition at line 155 of file avoid_joint_limits.h.
| virtual double constrained_ik::constraints::AvoidJointLimits::getThreshold | ( | ) | const [inline, virtual] |
| virtual double constrained_ik::constraints::AvoidJointLimits::getWeight | ( | ) | const [inline, virtual] |
| void constrained_ik::constraints::AvoidJointLimits::init | ( | const Constrained_IK * | ik | ) | [override, virtual] |
Initialize constraint (overrides Constraint::init) Initializes internal limit variables Should be called before using class.
- Parameters:
-
ik Pointer to Constrained_IK used for base-class init
Reimplemented from constrained_ik::Constraint.
Definition at line 113 of file avoid_joint_limits.cpp.
| virtual void constrained_ik::constraints::AvoidJointLimits::setThreshold | ( | const double & | threshold | ) | [inline, virtual] |
setter for threshold_
- Parameters:
-
threshold Value to set threshold_ to
Definition at line 179 of file avoid_joint_limits.h.
| virtual void constrained_ik::constraints::AvoidJointLimits::setWeight | ( | const double & | weight | ) | [inline, virtual] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 167 of file avoid_joint_limits.h.
The documentation for this class was generated from the following files: