Constraint to pushes joints back towards their starting position. More...
#include <goal_minimize_change.h>
Inheritance diagram for constrained_ik::constraints::GoalMinimizeChange:
Public Member Functions | |
| virtual Eigen::VectorXd | calcError (const ConstraintData &cdata) const |
| Joint velocity is difference between starting position and current position. | |
| virtual Eigen::MatrixXd | calcJacobian (const ConstraintData &cdata) const |
| Jacobian is identity becasue all joints are affected. | |
| virtual bool | checkStatus (const ConstraintData &cdata) const |
| Termination criteria for singularity constraint. | |
| constrained_ik::ConstraintResults | evalConstraint (const SolverState &state) const override |
| see base class for documentation | |
| virtual double | getWeight () const |
| Getter for weight_. | |
| void | loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override |
| see base class for documentation | |
| virtual void | setWeight (double weight) |
| setter for weight_ | |
Protected Attributes | |
| double | weight_ |
| weights used to scale the jocabian and error | |
Detailed Description
Constraint to pushes joints back towards their starting position.
- Examples:
- All examples are located here Goal Minimize Joint Change Constraint Examples
Definition at line 42 of file goal_minimize_change.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalMinimizeChange::calcError | ( | const ConstraintData & | cdata | ) | const [virtual] |
Joint velocity is difference between starting position and current position.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Joint difference scaled by weight_
Definition at line 57 of file goal_minimize_change.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalMinimizeChange::calcJacobian | ( | const ConstraintData & | cdata | ) | const [virtual] |
Jacobian is identity becasue all joints are affected.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- Identity scaled by weight_
Definition at line 64 of file goal_minimize_change.cpp.
| virtual bool constrained_ik::constraints::GoalMinimizeChange::checkStatus | ( | const ConstraintData & | cdata | ) | const [inline, virtual] |
Termination criteria for singularity constraint.
- Parameters:
-
cdata The constraint specific data.
- Returns:
- True always (no termination criteria)
Definition at line 73 of file goal_minimize_change.h.
| virtual double constrained_ik::constraints::GoalMinimizeChange::getWeight | ( | ) | const [inline, virtual] |
| virtual void constrained_ik::constraints::GoalMinimizeChange::setWeight | ( | double | weight | ) | [inline, virtual] |
setter for weight_
- Parameters:
-
weight Value to set weight_ to
Definition at line 85 of file goal_minimize_change.h.
The documentation for this class was generated from the following files: