constrained_ik::constraints::AvoidObstacles::LinkAvoidance Struct Reference

Link avoidance data for a single link. More...

#include <avoid_obstacles.h>

List of all members.

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LinkAvoidance (std::string link_name)
	Constructor.
Public Attributes
double	amplitude_
KDL::Chain	avoid_chain_
double	avoidance_distance_
KDL::ChainJntToJacSolver *	jac_solver_
std::string	link_name_
KDL::Vector	link_point_
double	min_distance_
int	num_inboard_joints_
int	num_obstacle_joints_
int	num_robot_joints_
KDL::Vector	obstacle_point_
double	weight_

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Detailed Description

Link avoidance data for a single link.

Definition at line 54 of file avoid_obstacles.h.

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Constructor & Destructor Documentation

constrained_ik::constraints::AvoidObstacles::LinkAvoidance::LinkAvoidance

(

std::string

link_name

)

Constructor.

Parameters:

link_name

name of link

Definition at line 57 of file avoid_obstacles.cpp.

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Member Data Documentation

double constrained_ik::constraints::AvoidObstacles::LinkAvoidance::amplitude_

amplitude of the sigmoid error curve

Definition at line 70 of file avoid_obstacles.h.

KDL::Chain constrained_ik::constraints::AvoidObstacles::LinkAvoidance::avoid_chain_

the kinematic chain from base to the obstacle avoidance link

Definition at line 74 of file avoid_obstacles.h.

double constrained_ik::constraints::AvoidObstacles::LinkAvoidance::avoidance_distance_

distance at which to start avoiding the obstacle

Definition at line 69 of file avoid_obstacles.h.

KDL::ChainJntToJacSolver* constrained_ik::constraints::AvoidObstacles::LinkAvoidance::jac_solver_

a KDL object for computing jacobians

Definition at line 77 of file avoid_obstacles.h.

std::string constrained_ik::constraints::AvoidObstacles::LinkAvoidance::link_name_

the name of the link that is to avoid obstacles

Definition at line 73 of file avoid_obstacles.h.

KDL::Vector constrained_ik::constraints::AvoidObstacles::LinkAvoidance::link_point_

vector to point on link closest to an obstacle

Definition at line 76 of file avoid_obstacles.h.

double constrained_ik::constraints::AvoidObstacles::LinkAvoidance::min_distance_

minimum obstacle distance allowed for convergence

Definition at line 68 of file avoid_obstacles.h.

int constrained_ik::constraints::AvoidObstacles::LinkAvoidance::num_inboard_joints_

number of joints in the inboard chain

Definition at line 75 of file avoid_obstacles.h.

int constrained_ik::constraints::AvoidObstacles::LinkAvoidance::num_obstacle_joints_

number of joints inboard to the obstacle link

Definition at line 72 of file avoid_obstacles.h.

int constrained_ik::constraints::AvoidObstacles::LinkAvoidance::num_robot_joints_

number of joints in the whole robot

Definition at line 71 of file avoid_obstacles.h.

KDL::Vector constrained_ik::constraints::AvoidObstacles::LinkAvoidance::obstacle_point_

vector to point on link closest to an obstacle

Definition at line 78 of file avoid_obstacles.h.

double constrained_ik::constraints::AvoidObstacles::LinkAvoidance::weight_

importance weight applied to this avoidance constraint

Definition at line 67 of file avoid_obstacles.h.

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The documentation for this struct was generated from the following files:

• avoid_obstacles.h
• avoid_obstacles.cpp