Constraint to specify cartesian goal position (XYZ) More...

#include <goal_position.h>

Inheritance diagram for constrained_ik::constraints::GoalPosition:

Public Member Functions
virtual Eigen::VectorXd	calcError ()
	Direction vector from current position to goal position Expressed in base coordinate system Each element is multiplied by corresponding element in weight_.
virtual Eigen::MatrixXd	calcJacobian ()
	Jacobian is first three rows of standard jacobian (expressed in base frame). Equivalent to each axis of rotation crossed with vector from joint to chain tip. Each row is scaled by the corresponding element of weight_.
virtual bool	checkStatus () const
	Checks termination criteria Termination criteria for this constraint is that positional error is below threshold.
Eigen::Vector3d	getWeight ()
	Getter for weight_.
	GoalPosition ()
virtual void	reset ()
	Resets constraint. Use this before performing new IK request.
void	setWeight (const Eigen::Vector3d &weight)
	Setter for weight_.
virtual void	update (const SolverState &state)
	Update internal state of constraint (overrides constraint::update) Sets current positional error.
virtual	~GoalPosition ()
Static Public Member Functions
static double	calcDistance (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)
	Calculates distance between two frames.
Protected Attributes
double	pos_err_
double	pos_err_tol_
Eigen::Vector3d	weight_

Detailed Description

Constraint to specify cartesian goal position (XYZ)

Definition at line 33 of file goal_position.h.

Constructor & Destructor Documentation

constrained_ik::constraints::GoalPosition::GoalPosition ( )

Definition at line 31 of file goal_position.cpp.

virtual constrained_ik::constraints::GoalPosition::~GoalPosition ( ) [inline, virtual]

Definition at line 37 of file goal_position.h.

Member Function Documentation

double constrained_ik::constraints::GoalPosition::calcDistance	(	const Eigen::Affine3d &	p1,
		const Eigen::Affine3d &	p2
	)		`[static]`

Calculates distance between two frames.

Parameters:

p1	Current frame
p2	Goal frame

Returns:: Cartesian distance between p1 and p2

Definition at line 61 of file goal_position.cpp.

Eigen::VectorXd constrained_ik::constraints::GoalPosition::calcError ( ) [virtual]

Direction vector from current position to goal position Expressed in base coordinate system Each element is multiplied by corresponding element in weight_.

Returns:: Translation from current to goal scaled by weight_

Implements constrained_ik::Constraint.

Reimplemented in constrained_ik::constraints::ToolPosition.

Definition at line 35 of file goal_position.cpp.

Eigen::MatrixXd constrained_ik::constraints::GoalPosition::calcJacobian ( ) [virtual]

Jacobian is first three rows of standard jacobian (expressed in base frame). Equivalent to each axis of rotation crossed with vector from joint to chain tip. Each row is scaled by the corresponding element of weight_.