Classes | |
| class | 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. More... | |
| class | 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... | |
| class | GoalMidJoint |
| Constraint to push joint to center of its range. More... | |
| class | GoalMinimizeChange |
| Constraint that pushes joints back towards their starting position. More... | |
| class | GoalOrientation |
| Constraint to specify Cartesian goal orientation (XYZ rotation) More... | |
| class | GoalPose |
| Constraint to specify cartesian goal pose (XYZ+orientation) More... | |
| class | GoalPosition |
| Constraint to specify cartesian goal position (XYZ) More... | |
| class | GoalToolOrientation |
| Constraint to specify cartesian goal orientation (XYZ rotation) More... | |
| class | GoalZeroJVel |
| Constraint to dampen movement by driving joint velocity to zero in each iteration. More... | |
| class | JointVelLimits |
| Constraint to avoid joint velocity limits. More... | |
| class | ToolPosition |
| Constraint to specify cartesian goal position in tool frame (XYZ rotation) More... | |
Functions | |
| template<class T > | |
| std::ostream & | operator<< (std::ostream &os, const std::vector< T > &v) |
| std::ostream & constrained_ik::constraints::operator<< | ( | std::ostream & | os, |
| const std::vector< T > & | v | ||
| ) |
Definition at line 130 of file avoid_joint_limits.cpp.