goal_tool_pointing.cpp File Reference

Constraint to specify cartesian tool goal pointing (XYZRP) More...

#include "constrained_ik/constrained_ik.h"
#include "constrained_ik/constraints/goal_tool_pointing.h"
#include "constrained_ik/constraints/goal_orientation.h"
#include <pluginlib/class_list_macros.h>

Include dependency graph for goal_tool_pointing.cpp:

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Variables
const double	DEFAULT_ORIENTATION_TOLERANCE = 0.009
const double	DEFAULT_POSITION_TOLERANCE = 0.001

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Detailed Description

Constraint to specify cartesian tool goal pointing (XYZRP)

Author:

Levi Armstrong

Date:

September 18, 2015

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2013, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file goal_tool_pointing.cpp.

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Variable Documentation

const double DEFAULT_ORIENTATION_TOLERANCE = 0.009

Default orientation convergance criteria

Definition at line 33 of file goal_tool_pointing.cpp.

const double DEFAULT_POSITION_TOLERANCE = 0.001

Default positional convergance criteria

Definition at line 32 of file goal_tool_pointing.cpp.