pr2_arm_ik Namespace Reference

Typedefs
typedef std::vector< VectorT >	Obstacles
Functions
float	cost (const VectorT &x, const VectorT &u)
void	costD (const VectorT &x, const VectorT &u, Deriv &d)
void	dynamics (const VectorT &x, const VectorT &u, VectorT &xNext)
void	dynamicsD (const VectorT &x, const VectorT &u, Deriv &d)
Obstacles &	getObstacles ()
void	setGoal (const VectorT &g)
void	setObstacles (const Obstacles &obs)
Variables
static float	c_b = 0.0007f
static float	c_p = 0.0003f
static float	c_u = 0.1f
static float	c_xT = 0.04f
static VectorT	goal
static float	h = 0.5f
static Obstacles	obstacles
static float	sigma = 0.01f
static float	sigma_p = 0.005f

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Typedef Documentation

typedef std::vector<VectorT> pr2_arm_ik::Obstacles

Definition at line 10 of file pr2_arm_ik.h.

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Function Documentation

float pr2_arm_ik::cost	(	const VectorT &	x,
		const VectorT &	u
	)

Definition at line 65 of file pr2_arm_ik.cpp.

void pr2_arm_ik::costD	(	const VectorT &	x,
		const VectorT &	u,
		Deriv &	d
	)

Definition at line 84 of file pr2_arm_ik.cpp.

void pr2_arm_ik::dynamics	(	const VectorT &	x,
		const VectorT &	u,
		VectorT &	xNext
	)

Definition at line 32 of file pr2_arm_ik.cpp.

void pr2_arm_ik::dynamicsD	(	const VectorT &	x,
		const VectorT &	u,
		Deriv &	d
	)

Definition at line 42 of file pr2_arm_ik.cpp.

Obstacles & pr2_arm_ik::getObstacles

(

)

Definition at line 28 of file pr2_arm_ik.cpp.

void pr2_arm_ik::setGoal

(

const VectorT &

g

)

Definition at line 20 of file pr2_arm_ik.cpp.

void pr2_arm_ik::setObstacles

(

const Obstacles &

obs

)

Definition at line 24 of file pr2_arm_ik.cpp.

---

Variable Documentation

float pr2_arm_ik::c_b = 0.0007f [static]

Definition at line 13 of file pr2_arm_ik.cpp.

float pr2_arm_ik::c_p = 0.0003f [static]

Definition at line 14 of file pr2_arm_ik.cpp.

float pr2_arm_ik::c_u = 0.1f [static]

Definition at line 15 of file pr2_arm_ik.cpp.

float pr2_arm_ik::c_xT = 0.04f [static]

Definition at line 18 of file pr2_arm_ik.cpp.

VectorT pr2_arm_ik::goal [static]

Definition at line 8 of file pr2_arm_ik.cpp.

float pr2_arm_ik::h = 0.5f [static]

Definition at line 12 of file pr2_arm_ik.cpp.

Obstacles pr2_arm_ik::obstacles [static]

Definition at line 9 of file pr2_arm_ik.cpp.

float pr2_arm_ik::sigma = 0.01f [static]

Definition at line 16 of file pr2_arm_ik.cpp.

float pr2_arm_ik::sigma_p = 0.005f [static]

Definition at line 17 of file pr2_arm_ik.cpp.