| constrained_ik::constraints::AvoidJointLimits | Constraint class to avoid joint position limits Using cubic velocity ramp, it pushes each joint away from its limits, with a maximimum velocity of 2*threshold*(joint range). Only affects joints that are within theshold of joint limit |
| constrained_ik::constraints::AvoidSingularities | Constraint that increases dexterity when manipulator is close to singularity Joint velocity is determined by gradient of smallest singular value Constraint is only active when smallest SV is below theshold |
| BaseTest | |
| constrained_ik::basic_ik::Basic_IK | Basic IK Solver |
| BasicIKTest | |
| constrained_ik::basic_kin::BasicKin | Basic low-level kinematics functions. Typically, just wrappers around the equivalent KDL calls |
| constrained_ik::Constrained_IK | Damped Least-Squares Inverse Kinematic Solution |
| constrained_ik::ConstrainedIKPlugin | |
| constrained_ik::Constraint | Base class for IK-solver Constraints |
| constrained_ik::ConstraintGroup | Group of constraints for use in iterative constrained_IK solver |
| constrained_ik::constraints::GoalMidJoint | Constraint to push joint to center of its range |
| constrained_ik::constraints::GoalMinimizeChange | Constraint that pushes joints back towards their starting position |
| constrained_ik::constraints::GoalOrientation | Constraint to specify Cartesian goal orientation (XYZ rotation) |
| constrained_ik::constraints::GoalPose | Constraint to specify cartesian goal pose (XYZ+orientation) |
| constrained_ik::constraints::GoalPosition | Constraint to specify cartesian goal position (XYZ) |
| constrained_ik::constraints::GoalToolOrientation | Constraint to specify cartesian goal orientation (XYZ rotation) |
| constrained_ik::constraints::GoalZeroJVel | Constraint to dampen movement by driving joint velocity to zero in each iteration |
| constrained_ik::constraints::JointVelLimits | Constraint to avoid joint velocity limits |
| constrained_ik::constraints::AvoidJointLimits::LimitsT | |
| PInvTest | |
| RobotTest | |
| constrained_ik::SolverState | Internal state of Constrained_IK solver |
| constrained_ik::test_ik::Test_IK | |
| constrained_ik::constraints::ToolPosition | Constraint to specify cartesian goal position in tool frame (XYZ rotation) |