Stores joint limit constraint data for a single joint. More...
#include <avoid_joint_limits.h>
Public Member Functions | |
| double | cubicVelRamp (double angle, double limit) const |
| Calculates velocity for joint position avoidance Uses cubic function v = y-y0 = k(x-x0)^3 where k=max_vel/(joint_range/2)^3. | |
| LimitsT (double minPos, double maxPos, double threshold) | |
| Constructor for LimitsT. | |
Public Attributes | |
| double | e |
| threshold as a distance from limit | |
| double | k3 |
| factor used in cubic velocity ramp | |
| double | lower_thresh |
| lower threshold at which limiting begins | |
| double | max_pos |
| maximum joint position | |
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW double | min_pos |
| minimum joint position | |
| double | upper_thresh |
| upper threshold at which limiting begins | |
Stores joint limit constraint data for a single joint.
Definition at line 58 of file avoid_joint_limits.h.
| constrained_ik::constraints::AvoidJointLimits::LimitsT::LimitsT | ( | double | minPos, |
| double | maxPos, | ||
| double | threshold | ||
| ) |
Constructor for LimitsT.
| minPos | Minimum allowed joint position |
| maxPos | Maximum allowed joint position |
| threshold | Limiting threshold given as a percentage of joint range |
Definition at line 204 of file avoid_joint_limits.cpp.
| double constrained_ik::constraints::AvoidJointLimits::LimitsT::cubicVelRamp | ( | double | angle, |
| double | limit | ||
| ) | const |
Calculates velocity for joint position avoidance Uses cubic function v = y-y0 = k(x-x0)^3 where k=max_vel/(joint_range/2)^3.
| angle | Angle to calculate velocity for |
| limit | Angle limit |
Definition at line 220 of file avoid_joint_limits.cpp.