Public Member Functions | Private Member Functions | Private Attributes | List of all members
Clik Class Reference

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...
 
Clikoperator= (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
pdDesired eff position in base frame.
pddDesired eff velocity in base frame.
qqqdDesired eff orientation in base frame.
wdDesired 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
qdDesired eff orientatio in base frame.
pdDesired eff position in base frame.
pddDesired eff velocity in base frame.
wdDesired 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:


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17