#include "constrained_ik/constraint.h"
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Classes | |
| class | 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. More... | |
Namespaces | |
| namespace | constrained_ik |
| namespace | constrained_ik::constraints |