Handle Closed Loop Inverse Kinematics scheme. More...

#include <clik.h>

Public Member Functions
	Clik ()

	Clik (const Robot &robot_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)
	Constructor. More...

	Clik (const mRobot &mrobot_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)
	Constructor. More...

	Clik (const mRobot_min_para &mrobot_min_para_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0)
	Constructor. More...

	Clik (const Clik &x)
	Copy constructor. More...

Clik &	operator= (const Clik &x)
	Overload = operator. More...

void	q_qdot (const Quaternion &qd, const ColumnVector &pd, const ColumnVector &pddot, const ColumnVector &wd, ColumnVector &q, ColumnVector &qp)
	Obtain joints position and velocity. More...

	~Clik ()

Private Member Functions
int	endeff_pos_ori_err (const ColumnVector &pd, const ColumnVector &pddot, const Quaternion &qd, const ColumnVector &wd)
	Obtain end effector position and orientation error. More...

Private Attributes
Real	dt
	Time frame. More...

Real	eps
	Range of singular region in Jacobian DLS inverse. More...

DiagonalMatrix	Ko
	Orientation error gain. More...

ColumnVector	Koe0Quat
	Ko times orientation error (quaternion vector part). More...

DiagonalMatrix	Kp
	Position error gain. More...

ColumnVector	Kpep
	Kp times position error. More...

Real	lambda_max
	Damping factor in Jacobian DLS inverse. More...

mRobot	mrobot
	mRobot instance. More...

mRobot_min_para	mrobot_min_para
	mRobot_min_para instance. More...

ColumnVector	q
	Clik joint position. More...

ColumnVector	qp
	Clik joint velocity. More...

ColumnVector	qp_prev
	Clik previous joint velocity. More...

Robot	robot
	Robot instance. More...

short	robot_type
	Robot type used. More...

ColumnVector	v
	Quaternion vector part. More...

Detailed Description

Handle Closed Loop Inverse Kinematics scheme.

Definition at line 87 of file clik.h.

Constructor & Destructor Documentation

Clik::Clik ( )

inline

Definition at line 89 of file clik.h.

Clik::Clik	(	const Robot &	robot_,
		const DiagonalMatrix &	Kp_,
		const DiagonalMatrix &	Ko_,
		const Real	eps_ = `0.04`,
		const Real	lambda_max_ = `0.04`,
		const Real	dt = `1.0`
	)

Constructor.

Definition at line 53 of file clik.cpp.

Clik::Clik	(	const mRobot &	mrobot_,
		const DiagonalMatrix &	Kp_,
		const DiagonalMatrix &	Ko_,
		const Real	eps_ = `0.04`,
		const Real	lambda_max_ = `0.04`,
		const Real	dt = `1.0`
	)

Constructor.

Definition at line 91 of file clik.cpp.

Clik::Clik	(	const mRobot_min_para &	mrobot_min_para_,
		const DiagonalMatrix &	Kp_,
		const DiagonalMatrix &	Ko_,
		const Real	eps_ = `0.04`,
		const Real	lambda_max_ = `0.04`,
		const Real	dt = `1.0`
	)

Constructor.

Definition at line 129 of file clik.cpp.

Clik::Clik ( const Clik & x )

Copy constructor.

Definition at line 163 of file clik.cpp.

Clik::~Clik ( )

inline

Definition at line 98 of file clik.h.

Member Function Documentation

int Clik::endeff_pos_ori_err	(	const ColumnVector &	pd,
		const ColumnVector &	pdd,
		const Quaternion &	qqqd,
		const ColumnVector &	wd
	)

private

Obtain end effector position and orientation error.

Parameters

pd	Desired eff position in base frame.
pdd	Desired eff velocity in base frame.
qqqd	Desired eff orientation in base frame.
wd	Desired eff angular velocity in base frame.

Definition at line 224 of file clik.cpp.

Clik & Clik::operator= ( const Clik & x )

Overload = operator.

Definition at line 192 of file clik.cpp.

void Clik::q_qdot	(	const Quaternion &	qd,
		const ColumnVector &	pd,
		const ColumnVector &	pdd,
		const ColumnVector &	wd,
		ColumnVector &	q_,
		ColumnVector &	qp_
	)

Obtain joints position and velocity.

Parameters

qd	Desired eff orientatio in base frame.
pd	Desired eff position in base frame.
pdd	Desired eff velocity in base frame.
wd	Desired eff angular velocity in base frame.
q_	Output joint position.
qp_	Output joint velocity.

Definition at line 269 of file clik.cpp.

Member Data Documentation

Real Clik::dt

private

Time frame.

Definition at line 108 of file clik.h.

Real Clik::eps

private

Range of singular region in Jacobian DLS inverse.

Definition at line 108 of file clik.h.

DiagonalMatrix Clik::Ko

private

Orientation error gain.

Definition at line 115 of file clik.h.

ColumnVector Clik::Koe0Quat

private

Ko times orientation error (quaternion vector part).

Definition at line 118 of file clik.h.

DiagonalMatrix Clik::Kp

private

Position error gain.

Definition at line 115 of file clik.h.

ColumnVector Clik::Kpep

private

Kp times position error.

Definition at line 118 of file clik.h.

Real Clik::lambda_max

private

Damping factor in Jacobian DLS inverse.

Definition at line 108 of file clik.h.

mRobot Clik::mrobot

private

mRobot instance.

Definition at line 113 of file clik.h.

mRobot_min_para Clik::mrobot_min_para

private

mRobot_min_para instance.

Definition at line 114 of file clik.h.

ColumnVector Clik::q

private

Clik joint position.

Definition at line 118 of file clik.h.

ColumnVector Clik::qp

private

Clik joint velocity.

Definition at line 118 of file clik.h.

ColumnVector Clik::qp_prev

private

Clik previous joint velocity.

Definition at line 118 of file clik.h.

Robot Clik::robot

private

Robot instance.

Definition at line 112 of file clik.h.

short Clik::robot_type

private

Robot type used.

Definition at line 111 of file clik.h.

ColumnVector Clik::v

private

Quaternion vector part.

Definition at line 118 of file clik.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation