Constraint to specify cartesian goal position in tool frame (XYZ rotation) More...
#include <tool_position.h>
Public Member Functions | |
| Eigen::VectorXd | calcError (const GoalPositionData &cdata) const override |
| Vector to get from current position to goal position Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_. | |
| Eigen::MatrixXd | calcJacobian (const GoalPositionData &cdata) const override |
| Jacobian is the first three rows of standard jacobian expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
Detailed Description
Constraint to specify cartesian goal position in tool frame (XYZ rotation)
- Todo:
- This class should be renamed to GoolToolPosition
- Examples:
- All examples are located here Goal Tool Position Constraint Examples
Definition at line 44 of file tool_position.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::ToolPosition::calcError | ( | const GoalPositionData & | cdata | ) | const [override, virtual] |
Vector to get from current position to goal position Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Vector from current to goal expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalPosition.
Definition at line 56 of file tool_position.cpp.
| Eigen::MatrixXd constrained_ik::constraints::ToolPosition::calcJacobian | ( | const GoalPositionData & | cdata | ) | const [override, virtual] |
Jacobian is the first three rows of standard jacobian expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- First 3 rows of standard jacobian expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalPosition.
Definition at line 66 of file tool_position.cpp.
The documentation for this class was generated from the following files: