Constraint to increases dexterity when manipulator is close to singularity. More...
#include <avoid_singularities.h>
Classes | |
| struct | AvoidSingularitiesData |
| This structure stores constraint data. More... | |
Public Member Functions | |
| virtual Eigen::VectorXd | calcError (const AvoidSingularitiesData &cdata) const |
| Velocity is gradient of smallest singular value del(sv) = uT * del(J) * v. | |
| virtual Eigen::MatrixXd | calcJacobian (const AvoidSingularitiesData &cdata) const |
| Jacobian for this constraint is identity (all joints may contribute) | |
| virtual bool | checkStatus (const AvoidSingularitiesData &cdata) const |
| Termination criteria for singularity constraint. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
| virtual double | getEnableThreshold () const |
| Getter for enable_threshold_. | |
| virtual double | getIgnoreThreshold () const |
| Getter for ignore_threshold_. | |
| virtual double | getWeight () const |
| Getter for weight_. | |
| void | loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override |
| see base class for documentation | |
| virtual void | setEnableThreshold (double enable_threshold) |
| Setter for enable_threshold_. | |
| virtual void | setIgnoreThreshold (double ignore_threshold) |
| Setter for ignore_threshold_. | |
| virtual void | setWeight (double weight) |
| Setter for weight_. | |
Protected Member Functions | |
| Eigen::MatrixXd | jacobianPartialDerivative (const AvoidSingularitiesData &cdata, size_t jntIdx, double eps=1e-6) const |
| Calculates the partial derivative of the jacobian This will calculate the partial derivative of the jacobian with respect to the provided joint index by method of numerical differentiation. | |
Protected Attributes | |
| double | enable_threshold_ |
| how small singular value must be to trigger avoidance | |
| double | ignore_threshold_ |
| how small is too small | |
| double | weight_ |
| weights used to scale the jocabian and error | |
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
- Examples:
- All examples are located here Avoid Singularities Constraint Examples
Definition at line 48 of file avoid_singularities.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::AvoidSingularities::calcError | ( | const AvoidSingularitiesData & | cdata | ) | const [virtual] |
Velocity is gradient of smallest singular value del(sv) = uT * del(J) * v.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Joint velocity error scaled by weight
Definition at line 66 of file avoid_singularities.cpp.
| Eigen::MatrixXd constrained_ik::constraints::AvoidSingularities::calcJacobian | ( | const AvoidSingularitiesData & | cdata | ) | const [virtual] |
Jacobian for this constraint is identity (all joints may contribute)
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Identity jacobian scaled by weight
Definition at line 82 of file avoid_singularities.cpp.
| virtual bool constrained_ik::constraints::AvoidSingularities::checkStatus | ( | const AvoidSingularitiesData & | cdata | ) | const [inline, virtual] |
Termination criteria for singularity constraint.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- True always (no termination criteria)
Definition at line 95 of file avoid_singularities.h.
| virtual double constrained_ik::constraints::AvoidSingularities::getEnableThreshold | ( | ) | const [inline, virtual] |
Getter for enable_threshold_.
- Returns:
- enable_threshold_
Definition at line 113 of file avoid_singularities.h.
| virtual double constrained_ik::constraints::AvoidSingularities::getIgnoreThreshold | ( | ) | const [inline, virtual] |
Getter for ignore_threshold_.
- Returns:
- ignore_threshold_
Definition at line 125 of file avoid_singularities.h.
| virtual double constrained_ik::constraints::AvoidSingularities::getWeight | ( | ) | const [inline, virtual] |
| Eigen::MatrixXd constrained_ik::constraints::AvoidSingularities::jacobianPartialDerivative | ( | const AvoidSingularitiesData & | cdata, |
| size_t | jntIdx, | ||
| double | eps = 1e-6 |
||
| ) | const [protected] |
Calculates the partial derivative of the jacobian This will calculate the partial derivative of the jacobian with respect to the provided joint index by method of numerical differentiation.
- Parameters:
-
cdata Constraint specific data jntIdx joint index eps value for which to peturb the joint value
- Returns:
- partial derivative of the jacobian relative to a single joint
Definition at line 90 of file avoid_singularities.cpp.
| virtual void constrained_ik::constraints::AvoidSingularities::setEnableThreshold | ( | double | enable_threshold | ) | [inline, virtual] |
Setter for enable_threshold_.
- Parameters:
-
enable_threshold Value to assign to enable_threshold_
Definition at line 119 of file avoid_singularities.h.
| virtual void constrained_ik::constraints::AvoidSingularities::setIgnoreThreshold | ( | double | ignore_threshold | ) | [inline, virtual] |
Setter for ignore_threshold_.
- Parameters:
-
ignore_threshold Value to assign to ignore_threshold_
Definition at line 131 of file avoid_singularities.h.
| virtual void constrained_ik::constraints::AvoidSingularities::setWeight | ( | double | weight | ) | [inline, virtual] |
Setter for weight_.
- Parameters:
-
weight Value to assign to weight_
Definition at line 107 of file avoid_singularities.h.
The documentation for this class was generated from the following files: