manipulability.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_
31 #define EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_
32 
33 #include <exotica_core/task_map.h>
34 
35 #include <exotica_core_task_maps/manipulability_initializer.h>
36 
37 namespace exotica
38 {
61 class Manipulability : public TaskMap, public Instantiable<ManipulabilityInitializer>
62 {
63 public:
64  void Instantiate(const ManipulabilityInitializer& init) override;
66  int TaskSpaceDim() override;
67 
68 private:
71 };
72 } // namespace exotica
73 
74 #endif // EXOTICA_CORE_TASK_MAPS_MANIPULABILITY_H_
void Instantiate(const ManipulabilityInitializer &init) override
int TaskSpaceDim() override
Eigen::Ref< Eigen::VectorXd > VectorXdRef
int n_end_effs_
Number of end-effectors.
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
int n_rows_of_jac_
Number of rows from the top to extract from full jacobian. Is either 3 (position) or 6 (position and ...
double x
Manipulability measure. The manipulability measure for a robot at a given joint configuration indicat...


exotica_core_task_maps
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:36:09