Function moveit_servo::velocityScalingFactorForSingularity

• Defined in File common.hpp

Function Documentation

std::pair<double, StatusCode> moveit_servo::velocityScalingFactorForSingularity(const moveit::core::RobotStatePtr &robot_state, const Eigen::VectorXd &target_delta_x, const servo::Params &servo_params)

Computes scaling factor for velocity when the robot is near a singularity.

Parameters:

• robot_state – A pointer to the current robot state.

• target_delta_x – The vector containing the required change in Cartesian position.

• servo_params – The servo parameters, contains the singularity thresholds.

Returns:

The velocity scaling factor and the reason for scaling.