.. _file_include_pfield_pfield.hpp: File pfield.hpp =============== |exhale_lsh| :ref:`Parent directory ` (``include/pfield``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS Library for managing a vector field overlaid onto a robot's task-space (3D World) as a potential force field to plan motion trajectories. .. contents:: Contents :local: :backlinks: none Definition (``include/pfield/pfield.hpp``) ------------------------------------------ .. toctree:: :maxdepth: 1 program_listing_file_include_pfield_pfield.hpp.rst Detailed Description -------------------- Sharwin Patil (sharwinpatil@u.northwestern.edu) The field produces a task-space wrench (F) assuming a massless system: linear force [F] and torque [Nm] The wrench is converted to a velocity vector (V): linear velocity [m/s] and angular velocity [rad/s] The reference for these equations and implementation is: Principles of Robot Motion: Theory, Algorithms, and Implementations by Choset et al, 2005, MIT Press. https://ieeexplore.ieee.org/book/6267238 3.0 2025-11-03 Copyright (c) 2025 Includes -------- - ``eigen3/Eigen/Core`` - ``eigen3/Eigen/Geometry`` - ``memory`` - ``pfield/pf_kinematics.hpp`` (:ref:`file_include_pfield_pf_kinematics.hpp`) - ``pfield/pf_obstacle.hpp`` (:ref:`file_include_pfield_pf_obstacle.hpp`) - ``pfield/pfield_common.hpp`` (:ref:`file_include_pfield_pfield_common.hpp`) - ``pfield/spatial_vector.hpp`` (:ref:`file_include_pfield_spatial_vector.hpp`) - ``solvers/ik_solver.hpp`` (:ref:`file_include_solvers_ik_solver.hpp`) - ``string`` - ``unordered_map`` - ``unordered_set`` - ``utility`` - ``vector`` (:ref:`file_include_pfield_spatial_vector.hpp`) Namespaces ---------- - :ref:`namespace_pfield` Classes ------- - :ref:`exhale_struct_structpfield_1_1PFLimits` - :ref:`exhale_struct_structpfield_1_1PlannedPath` - :ref:`exhale_struct_structpfield_1_1TaskSpaceTwist` - :ref:`exhale_struct_structpfield_1_1TaskSpaceWrench` - :ref:`exhale_class_classpfield_1_1PotentialField`