#include <wln_joint_limit_avoidance_solver.h>

Inheritance diagram for WLN_JointLimitAvoidanceSolver:

Public Member Functions
	WLN_JointLimitAvoidanceSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual	~WLN_JointLimitAvoidanceSolver ()

Public Member Functions inherited from WeightedLeastNormSolver
virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)

	WeightedLeastNormSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual	~WeightedLeastNormSolver ()

Public Member Functions inherited from ConstraintSolver<>
void	clearConstraints ()

	ConstraintSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

void	setConstraints (std::set< ConstraintBase_t > &constraints)

void	setDamping (boost::shared_ptr< DampingBase > &damping)

virtual void	setJacobianData (const Matrix6Xd_t &jacobian_data)

virtual	~ConstraintSolver ()

Private Member Functions
virtual Eigen::MatrixXd	calculateWeighting (const JointStates &joint_states) const

Additional Inherited Members
Protected Attributes inherited from ConstraintSolver<>
std::set< ConstraintBase_t >	constraints_
	set inserts sorted (default less operator); if element has already been added it returns an iterator on it. More...

boost::shared_ptr< DampingBase >	damping_
	References the current Jacobian (matrix data only). More...

Matrix6Xd_t	jacobian_data_
	References the limiter parameters (up-to-date according to KinematicExtension). More...

const LimiterParams &	limiter_params_
	References the inv. diff. kin. solver parameters. More...

const TwistControllerParams &	params_
	Set of constraints. More...

PInvBySVD	pinv_calc_
	The currently set damping method. More...

TaskStackController_t &	task_stack_controller_
	An instance that helps solving the inverse of the Jacobian. More...

Detailed Description

Implementation of ConstraintSolver to solve inverse kinematics with joint limit avoidance Uses solve method of the WeightedLeastNormSolver

Definition at line 26 of file wln_joint_limit_avoidance_solver.h.

Constructor & Destructor Documentation

WLN_JointLimitAvoidanceSolver::WLN_JointLimitAvoidanceSolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)

inline

Definition at line 29 of file wln_joint_limit_avoidance_solver.h.

virtual WLN_JointLimitAvoidanceSolver::~WLN_JointLimitAvoidanceSolver ( )

inlinevirtual

Definition at line 35 of file wln_joint_limit_avoidance_solver.h.

Member Function Documentation

Eigen::MatrixXd WLN_JointLimitAvoidanceSolver::calculateWeighting ( const JointStates & joint_states ) const

privatevirtual

Helper method that calculates a weighting for the Jacobian to adapt the impact on joint velocities. Overridden from base class WLNSolver

Parameters

q	The current joint positions.
q_dot	The current joint velocities.

Returns: Diagonal weighting matrix that adapts the Jacobian.

This function calculates the weighting matrix used to penalize a joint when it is near and moving towards a limit. The last joint velocity is used to determine if it that happens or not

Reimplemented from WeightedLeastNormSolver.

Definition at line 27 of file wln_joint_limit_avoidance_solver.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation