ROBOOP::Clik Class Reference#include <clik.h>
List of all members.
Detailed Description
Handle Closed Loop Inverse Kinematics scheme.
Definition at line 85 of file clik.h.
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Public Member Functions |
| Clik () |
| Clik (const Robot &robot_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0) |
| Constructor.
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| Clik (const mRobot &mrobot_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0) |
| Constructor.
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| Clik (const mRobot_min_para &mrobot_min_para_, const DiagonalMatrix &Kp_, const DiagonalMatrix &Ko_, const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0) |
| Constructor.
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| Clik (const Clik &x) |
| Copy constructor.
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| ~Clik () |
Clik & | operator= (const Clik &x) |
| Overload = operator.
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void | q_qdot (const Quaternion &qd, const ColumnVector &pd, const ColumnVector &pddot, const ColumnVector &wd, ColumnVector &q, ColumnVector &qp) |
| Obtain joints position and velocity.
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Private Member Functions |
int | endeff_pos_ori_err (const ColumnVector &pd, const ColumnVector &pddot, const Quaternion &qd, const ColumnVector &wd) |
| Obtain end effector position and orientation error.
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Private Attributes |
Real | dt |
| Time frame.
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Real | eps |
| Range of singular region in Jacobian DLS inverse.
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Real | lambda_max |
| Damping factor in Jacobian DLS inverse.
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short | robot_type |
| Robot type used.
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Robot | robot |
| Robot instance.
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mRobot | mrobot |
| mRobot instance.
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mRobot_min_para | mrobot_min_para |
| mRobot_min_para instance.
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DiagonalMatrix | Kp |
| Position error gain.
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DiagonalMatrix | Ko |
| Orientation error gain.
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ColumnVector | q |
| Clik joint position.
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ColumnVector | qp |
| Clik joint velocity.
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ColumnVector | qp_prev |
| Clik previous joint velocity.
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ColumnVector | Kpep |
| Kp times position error.
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ColumnVector | Koe0Quat |
| Ko times orientation error (quaternion vector part).
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ColumnVector | v |
| Quaternion vector part.
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Constructor & Destructor Documentation
ROBOOP::Clik::Clik |
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[inline] |
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Constructor.
Definition at line 52 of file clik.cpp. |
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Constructor.
Definition at line 90 of file clik.cpp. |
ROBOOP::Clik::Clik |
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const Clik & |
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Copy constructor.
Definition at line 162 of file clik.cpp. |
ROBOOP::Clik::~Clik |
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[inline] |
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Member Function Documentation
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Obtain end effector position and orientation error.
- Parameters:
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| pd: | Desired eff position in base frame. |
| pdd: | Desired eff velocity in base frame. (unused) |
| qqqd: | Desired eff orientation in base frame. |
| wd: | Desired eff angular velocity in base frame. (unused) |
Definition at line 223 of file clik.cpp.
Referenced by q_qdot(). |
Clik & ROBOOP::Clik::operator= |
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const Clik & |
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Overload = operator.
Definition at line 191 of file clik.cpp. |
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Obtain joints position and velocity.
- Parameters:
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| qd: | Desired eff orientatio in base frame. |
| pd: | Desired eff position in base frame. |
| pdd: | Desired eff velocity in base frame. |
| wd: | Desired eff angular velocity in base frame. |
| q_: | Output joint position. |
| qp_: | Output joint velocity. |
Definition at line 268 of file clik.cpp. |
Member Data Documentation
The documentation for this class was generated from the following files:
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