File pfield.hpp

↰ Parent directory (include/pfield)

Library for managing a vector field overlaid onto a robot’s task-space (3D World) as a potential force field to plan motion trajectories.

Definition (include/pfield/pfield.hpp)

• Program Listing for File pfield.hpp

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 (File pf_kinematics.hpp)

• pfield/pf_obstacle.hpp (File pf_obstacle.hpp)

• pfield/pfield_common.hpp (File pfield_common.hpp)

• pfield/spatial_vector.hpp (File spatial_vector.hpp)

• solvers/ik_solver.hpp (File ik_solver.hpp)

• string

• unordered_map

• unordered_set

• utility

• vector (File spatial_vector.hpp)

Namespaces

• Namespace pfield

Classes

• Struct PFLimits

• Struct PlannedPath

• Struct TaskSpaceTwist

• Struct TaskSpaceWrench

• Class PotentialField