avoid_singularities.cpp File Reference

Constraint to increases dexterity when manipulator is close to singularity. More...

#include "constrained_ik/constrained_ik.h"
#include "constrained_ik/constraints/avoid_singularities.h"
#include "ros/ros.h"
#include <pluginlib/class_list_macros.h>

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Variables
const double	DEFAULT_ENABLE_THRESHOLD = 0.01
const double	DEFAULT_IGNORE_THRESHOLD = 1e-5
const double	DEFAULT_WEIGHT = 1.0

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Detailed Description

Constraint to increases dexterity when manipulator is close to singularity.

Joint velocity is determined by gradient of smallest singular value Constraint is only active when smallest SV is below theshold

Author:

dsolomon

Date:

Sep 23, 2013

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2013, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file avoid_singularities.cpp.

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Variable Documentation

const double DEFAULT_ENABLE_THRESHOLD = 0.01

Default for how small singular value must be to trigger avoidance

Definition at line 36 of file avoid_singularities.cpp.

const double DEFAULT_IGNORE_THRESHOLD = 1e-5

Default for how small is too small

Definition at line 37 of file avoid_singularities.cpp.

const double DEFAULT_WEIGHT = 1.0

Default weight

Definition at line 35 of file avoid_singularities.cpp.