cob_twist_controller_data_types.h File Reference

#include <string>
#include <vector>
#include <map>
#include <stdint.h>
#include <Eigen/Core>
#include <Eigen/LU>
#include <kdl/jntarray.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <cob_twist_controller/TwistControllerConfig.h>

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Classes
struct	ActiveCartesianDimension
struct	ConstraintParams
class	ConstraintState
struct	ConstraintThresholds
struct	JointStates
struct	LimiterParams
struct	LookatOffset
struct	ObstacleDistanceData
struct	TwistControllerParams
struct	UJSSolverParams
Defines
#define	DEFAULT_CYCLE   0.02
#define	DIV0_SAFE   1.0e-6
#define	MAX_CRIT   true
#define	MIN_CRIT   false
#define	ZERO_THRESHOLD   1.0e-9
Typedefs
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	Matrix6Xd_t
typedef std::map< std::string, std::vector < ObstacleDistanceData > >	ObstacleDistancesInfo_t
typedef Eigen::Matrix< double, 6, 1 >	Vector6d_t
Enumerations
enum	ConstraintTypes { CA, JLA }
enum	ConstraintTypesCA { CA_OFF = cob_twist_controller::TwistController_CA_OFF, CA_ON = cob_twist_controller::TwistController_CA }
enum	ConstraintTypesJLA { JLA_OFF = cob_twist_controller::TwistController_JLA_OFF, JLA_ON = cob_twist_controller::TwistController_JLA, JLA_MID_ON = cob_twist_controller::TwistController_JLA_MID, JLA_INEQ_ON = cob_twist_controller::TwistController_JLA_INEQ }
enum	DampingMethodTypes {   NO_DAMPING = cob_twist_controller::TwistController_NO_DAMPING, CONSTANT = cob_twist_controller::TwistController_CONSTANT, MANIPULABILITY = cob_twist_controller::TwistController_MANIPULABILITY, LEAST_SINGULAR_VALUE = cob_twist_controller::TwistController_LEAST_SINGULAR_VALUE,   SIGMOID = cob_twist_controller::TwistController_SIGMOID }
enum	EN_ConstraintStates { NORMAL = 0, DANGER, CRITICAL }
enum	KinematicExtensionTypes {   NO_EXTENSION = cob_twist_controller::TwistController_NO_EXTENSION, BASE_COMPENSATION = cob_twist_controller::TwistController_BASE_COMPENSATION, BASE_ACTIVE = cob_twist_controller::TwistController_BASE_ACTIVE, COB_TORSO = cob_twist_controller::TwistController_COB_TORSO,   LOOKAT = cob_twist_controller::TwistController_LOOKAT }
enum	LookatAxisTypes {   X_POSITIVE, Y_POSITIVE, Z_POSITIVE, X_NEGATIVE,   Y_NEGATIVE, Z_NEGATIVE }
enum	SolverTypes {   DEFAULT_SOLVER = cob_twist_controller::TwistController_DEFAULT_SOLVER, WLN = cob_twist_controller::TwistController_WLN, GPM = cob_twist_controller::TwistController_GPM, STACK_OF_TASKS = cob_twist_controller::TwistController_STACK_OF_TASKS,   TASK_2ND_PRIO = cob_twist_controller::TwistController_TASK_2ND_PRIO, UNIFIED_JLA_SA = cob_twist_controller::TwistController_UNIFIED_JLA_SA }

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Define Documentation

#define DEFAULT_CYCLE   0.02

Definition at line 33 of file cob_twist_controller_data_types.h.

#define DIV0_SAFE   1.0e-6

Definition at line 35 of file cob_twist_controller_data_types.h.

#define MAX_CRIT   true

Definition at line 31 of file cob_twist_controller_data_types.h.

#define MIN_CRIT   false

Definition at line 32 of file cob_twist_controller_data_types.h.

#define ZERO_THRESHOLD   1.0e-9

Definition at line 34 of file cob_twist_controller_data_types.h.

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Typedef Documentation

typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6Xd_t

Definition at line 336 of file cob_twist_controller_data_types.h.

typedef std::map<std::string, std::vector<ObstacleDistanceData> > ObstacleDistancesInfo_t

Definition at line 338 of file cob_twist_controller_data_types.h.

typedef Eigen::Matrix<double, 6, 1> Vector6d_t

Definition at line 337 of file cob_twist_controller_data_types.h.

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Enumeration Type Documentation

enum ConstraintTypes

Enumerator:

CA
JLA

Definition at line 156 of file cob_twist_controller_data_types.h.

enum ConstraintTypesCA

Enumerator:

CA_OFF
CA_ON

Definition at line 65 of file cob_twist_controller_data_types.h.

enum ConstraintTypesJLA

Enumerator:

JLA_OFF
JLA_ON
JLA_MID_ON
JLA_INEQ_ON

Definition at line 71 of file cob_twist_controller_data_types.h.

enum DampingMethodTypes

Enumerator:

NO_DAMPING
CONSTANT
MANIPULABILITY
LEAST_SINGULAR_VALUE
SIGMOID

Definition at line 37 of file cob_twist_controller_data_types.h.

enum EN_ConstraintStates

Enumerator:

NORMAL
DANGER
CRITICAL

Definition at line 294 of file cob_twist_controller_data_types.h.

enum KinematicExtensionTypes

Enumerator:

NO_EXTENSION
BASE_COMPENSATION
BASE_ACTIVE
COB_TORSO
LOOKAT

Definition at line 46 of file cob_twist_controller_data_types.h.

enum LookatAxisTypes

Enumerator:

X_POSITIVE
Y_POSITIVE
Z_POSITIVE
X_NEGATIVE
Y_NEGATIVE
Z_NEGATIVE

Definition at line 79 of file cob_twist_controller_data_types.h.

enum SolverTypes

Enumerator:

DEFAULT_SOLVER
WLN
GPM
STACK_OF_TASKS
TASK_2ND_PRIO
UNIFIED_JLA_SA

Definition at line 55 of file cob_twist_controller_data_types.h.