Public Member Functions | Private Member Functions | Private Attributes
Clik Class Reference

Handle Closed Loop Inverse Kinematics scheme. More...

#include <clik.h>

List of all members.

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.
 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.
 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.
 Clik (const Clik &x)
 Copy constructor.
Clikoperator= (const Clik &x)
 Overload = operator.
void q_qdot (const Quaternion &qd, const ColumnVector &pd, const ColumnVector &pddot, const ColumnVector &wd, ColumnVector &q, ColumnVector &qp)
 Obtain joints position and velocity.
 ~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.

Private Attributes

Real dt
 Time frame.
Real eps
 Range of singular region in Jacobian DLS inverse.
DiagonalMatrix Ko
 Orientation error gain.
ColumnVector Koe0Quat
 Ko times orientation error (quaternion vector part).
DiagonalMatrix Kp
 Position error gain.
ColumnVector Kpep
 Kp times position error.
Real lambda_max
 Damping factor in Jacobian DLS inverse.
mRobot mrobot
 mRobot instance.
mRobot_min_para mrobot_min_para
 mRobot_min_para instance.
ColumnVector q
 Clik joint position.
ColumnVector qp
 Clik joint velocity.
ColumnVector qp_prev
 Clik previous joint velocity.
Robot robot
 Robot instance.
short robot_type
 Robot type used.
ColumnVector v
 Quaternion vector part.

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.

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 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:


kni
Author(s): Martin Günther
autogenerated on Thu Jun 6 2019 21:42:35