DampingManipulability Class Reference

Class implementing a method to return a factor corresponding to the measure of manipulability. More...

#include <damping.h>

Inheritance diagram for DampingManipulability:

Public Member Functions
	DampingManipulability (const TwistControllerParams &params)
virtual Eigen::MatrixXd	getDampingFactor (const Eigen::VectorXd &sorted_singular_values, const Eigen::MatrixXd &jacobian_data) const
	~DampingManipulability ()
Public Member Functions inherited from DampingBase
	DampingBase (const TwistControllerParams &params)
virtual	~DampingBase ()

Additional Inherited Members
Protected Attributes inherited from DampingBase
const TwistControllerParams	params_

Detailed Description

Class implementing a method to return a factor corresponding to the measure of manipulability.

Definition at line 70 of file damping.h.

Constructor & Destructor Documentation

DampingManipulability::DampingManipulability ( const TwistControllerParams &  params )

inlineexplicit

Definition at line 73 of file damping.h.

DampingManipulability::~DampingManipulability ( )

inline

Definition at line 77 of file damping.h.

Member Function Documentation

Eigen::MatrixXd DampingManipulability::getDampingFactor ( const Eigen::VectorXd &  sorted_singular_values, const Eigen::MatrixXd &  jacobian_data  ) const

virtual

Method returns the damping factor according to the manipulability measure. [Nakamura, "Advanced Robotics Redundancy and Optimization", ISBN: 0-201-15198-7, Page 268]

Implements DampingBase.

Definition at line 86 of file damping.cpp.

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

• damping.h
• damping.cpp