Constraint to specify cartesian tool goal pointing (XYZRP) More...
#include <goal_tool_pointing.h>
Classes | |
| struct | GoalToolPointingData |
| This structure stores constraint data. More... | |
Public Member Functions | |
| virtual Eigen::VectorXd | calcError (const GoalToolPointingData &cdata) const |
| Direction vector from current position to goal position Expressed in tool coordinate system Each element is multiplied by corresponding element in weight_. | |
| virtual Eigen::MatrixXd | calcJacobian (const GoalToolPointingData &cdata) const |
| Jacobian is first five rows of tool jacobian (expressed in tool frame). Equivalent to each axis of rotation crossed with vector from joint to chain tip. Each row is scaled by the corresponding element of weight_. | |
| virtual bool | checkStatus (const GoalToolPointingData &cdata) const |
| Checks termination criteria Termination criteria for this constraint is that positional and rotational error is below threshold. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
| virtual double | getOrientationTolerance () const |
| Getter for rot_err_tol_. | |
| virtual double | getPositionTolerance () const |
| Getter for pos_err_tol_. | |
| virtual Eigen::Matrix< double, 5, 1 > | getWeight () const |
| Getter for weight_. | |
| void | loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override |
| see base class for documentation | |
| virtual void | setOrientationTolerance (const double &orientation_tolerance) |
| Setter for rot_err_tol_. | |
| virtual void | setPositionTolerance (const double &position_tolerance) |
| Setter for pos_err_tol_. | |
| virtual void | setWeight (const Eigen::Matrix< double, 5, 1 > &weight) |
| Setter for weight_. | |
Protected Attributes | |
| double | pos_err_tol_ |
| termination criteria | |
| double | rot_err_tol_ |
| termination criteria | |
| Eigen::Matrix< double, 5, 5 > | weight_ |
| weights used to scale the jocabian and error | |
Detailed Description
Constraint to specify cartesian tool goal pointing (XYZRP)
- Examples:
- All examples are located here Goal Tool Pointing Constraint Examples
Definition at line 43 of file goal_tool_pointing.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalToolPointing::calcError | ( | const GoalToolPointingData & | cdata | ) | const [virtual] |
Direction vector from current position to goal position Expressed in tool coordinate system Each element is multiplied by corresponding element in weight_.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Firt 5 rows from current to goal scaled by weight_
Definition at line 59 of file goal_tool_pointing.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalToolPointing::calcJacobian | ( | const GoalToolPointingData & | cdata | ) | const [virtual] |
Jacobian is first five rows of tool jacobian (expressed in tool frame). Equivalent to each axis of rotation crossed with vector from joint to chain tip. Each row is scaled by the corresponding element of weight_.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- First 5 rows of tool jacobian scaled by weight_
Definition at line 72 of file goal_tool_pointing.cpp.
| bool constrained_ik::constraints::GoalToolPointing::checkStatus | ( | const GoalToolPointingData & | cdata | ) | const [virtual] |
Checks termination criteria Termination criteria for this constraint is that positional and rotational error is below threshold.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- True if positional and rotational error is below threshold
Definition at line 91 of file goal_tool_pointing.cpp.
| virtual double constrained_ik::constraints::GoalToolPointing::getOrientationTolerance | ( | ) | const [inline, virtual] |
| virtual double constrained_ik::constraints::GoalToolPointing::getPositionTolerance | ( | ) | const [inline, virtual] |
| virtual Eigen::Matrix<double, 5, 1> constrained_ik::constraints::GoalToolPointing::getWeight | ( | ) | const [inline, virtual] |
| virtual void constrained_ik::constraints::GoalToolPointing::setOrientationTolerance | ( | const double & | orientation_tolerance | ) | [inline, virtual] |
Setter for rot_err_tol_.
- Parameters:
-
orientation_tolerance Value to assign to rot_err_tol_
Definition at line 126 of file goal_tool_pointing.h.
| virtual void constrained_ik::constraints::GoalToolPointing::setPositionTolerance | ( | const double & | position_tolerance | ) | [inline, virtual] |
Setter for pos_err_tol_.
- Parameters:
-
position_tolerance Value to assign to pos_err_tol_
Definition at line 114 of file goal_tool_pointing.h.
| virtual void constrained_ik::constraints::GoalToolPointing::setWeight | ( | const Eigen::Matrix< double, 5, 1 > & | weight | ) | [inline, virtual] |
Setter for weight_.
- Parameters:
-
weight Value to assign to weight_
Definition at line 102 of file goal_tool_pointing.h.
The documentation for this class was generated from the following files: