Constraint to push joint to center of its range. More...
#include <goal_mid_joint.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError (const ConstraintData &cdata) const |
| Desired joint velocity is difference between min-range and current position. | |
| virtual Eigen::MatrixXd | calcJacobian (const ConstraintData &cdata) const |
| Jacobian is identity because all joints are affected. | |
| virtual bool | checkStatus (const ConstraintData &cdata) const |
| Termination criteria for mid-joint constraint. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
| virtual double | getWeight () const |
| Getter for weight_. | |
| void | init (const Constrained_IK *ik) override |
| Initialize constraint (overrides Constraint::init) Initializes internal variable representing mid-range of each joint Should be called before using class. | |
| void | loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override |
| see base class for documentation | |
| virtual void | setWeight (double weight) |
| setter for weight_ | |
Protected Attributes | |
| Eigen::VectorXd | mid_range_ |
| mid-range of each joint | |
| double | weight_ |
| weights used to scale the jocabian and error | |
Detailed Description
Constraint to push joint to center of its range.
- Examples:
- All examples are located here Goal Mid Joint Constraint Examples
Definition at line 42 of file goal_mid_joint.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalMidJoint::calcError | ( | const ConstraintData & | cdata | ) | const [virtual] |
Desired joint velocity is difference between min-range and current position.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- difference in joint position scaled by weight
Definition at line 57 of file goal_mid_joint.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalMidJoint::calcJacobian | ( | const ConstraintData & | cdata | ) | const [virtual] |
Jacobian is identity because all joints are affected.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Identity scaled by weight_
Definition at line 64 of file goal_mid_joint.cpp.
| virtual bool constrained_ik::constraints::GoalMidJoint::checkStatus | ( | const ConstraintData & | cdata | ) | const [inline, virtual] |
Termination criteria for mid-joint constraint.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- True always (no termination criteria)
Definition at line 81 of file goal_mid_joint.h.
| virtual double constrained_ik::constraints::GoalMidJoint::getWeight | ( | ) | const [inline, virtual] |
| void constrained_ik::constraints::GoalMidJoint::init | ( | const Constrained_IK * | ik | ) | [override, virtual] |
Initialize constraint (overrides Constraint::init) Initializes internal variable representing mid-range of each joint 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 71 of file goal_mid_joint.cpp.
| virtual void constrained_ik::constraints::GoalMidJoint::setWeight | ( | double | weight | ) | [inline, virtual] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 92 of file goal_mid_joint.h.
The documentation for this class was generated from the following files: