#include <kinematics.h>
Public Attributes | |
Constraint Parameters | |
The constraints on the cartesian goal | |
| Eigen::Array< int, 6, 1 > | constrained_dofs = Eigen::Array<int,6,1>::Ones() |
| A vector of the form [x y z rx ry rz] filled with 0's and 1's to indicate an unconstrained or fully constrained DOF. | |
| Eigen::Affine3d | tool_goal_pose = Eigen::Affine3d::Identity() |
| The desired tool pose. | |
Support Parameters | |
Used at each iteration until a solution is found | |
| Eigen::ArrayXd | joint_update_rates = Eigen::ArrayXd::Zero(1,1) |
| The weights to be applied to each update during every iteration [num_dimensions x 1]. | |
| Eigen::Array< double, 6, 1 > | cartesian_convergence_thresholds = Eigen::Array<double,6,1>::Zero() |
| The error margin for each dimension of the twist vector [6 x 1]. | |
| Eigen::VectorXd | init_joint_pose = Eigen::ArrayXd::Zero(1,1) |
| Seed joint pose [num_dimension x 1]. | |
| int | max_iterations = 100 |
| The maximum number of iterations that the algorithm will run until convergence is reached. | |
Null Space Parameters | |
Used in exploding the task manifold null space | |
| Eigen::ArrayXd | null_proj_weights = Eigen::ArrayXd::Zero(1,1) |
| Weights to be applied to the null space vector. | |
| Eigen::VectorXd | null_space_vector = Eigen::VectorXd::Zero(1) |
| Null space vector that is used to exploit the Jacobian's null space. | |
Definition at line 59 of file kinematics.h.
| Eigen::Array<double,6,1> stomp_moveit::utils::kinematics::KinematicConfig::cartesian_convergence_thresholds = Eigen::Array<double,6,1>::Zero() |
The error margin for each dimension of the twist vector [6 x 1].
Definition at line 72 of file kinematics.h.
| Eigen::Array<int,6,1> stomp_moveit::utils::kinematics::KinematicConfig::constrained_dofs = Eigen::Array<int,6,1>::Ones() |
A vector of the form [x y z rx ry rz] filled with 0's and 1's to indicate an unconstrained or fully constrained DOF.
Definition at line 64 of file kinematics.h.
| Eigen::VectorXd stomp_moveit::utils::kinematics::KinematicConfig::init_joint_pose = Eigen::ArrayXd::Zero(1,1) |
Seed joint pose [num_dimension x 1].
Definition at line 73 of file kinematics.h.
| Eigen::ArrayXd stomp_moveit::utils::kinematics::KinematicConfig::joint_update_rates = Eigen::ArrayXd::Zero(1,1) |
The weights to be applied to each update during every iteration [num_dimensions x 1].
Definition at line 71 of file kinematics.h.
The maximum number of iterations that the algorithm will run until convergence is reached.
Definition at line 74 of file kinematics.h.
| Eigen::ArrayXd stomp_moveit::utils::kinematics::KinematicConfig::null_proj_weights = Eigen::ArrayXd::Zero(1,1) |
Weights to be applied to the null space vector.
Definition at line 79 of file kinematics.h.
| Eigen::VectorXd stomp_moveit::utils::kinematics::KinematicConfig::null_space_vector = Eigen::VectorXd::Zero(1) |
Null space vector that is used to exploit the Jacobian's null space.
Definition at line 80 of file kinematics.h.
| Eigen::Affine3d stomp_moveit::utils::kinematics::KinematicConfig::tool_goal_pose = Eigen::Affine3d::Identity() |
The desired tool pose.
Definition at line 66 of file kinematics.h.