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ROBOOP::Clik

ROBOOP::Clik Class Reference

#include <clik.h>

List of all members.

Detailed Description

Handle Closed Loop Inverse Kinematics scheme.

Definition at line 83 of file clik.h.

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.
 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.
 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.
 Clik (const Clik &x)
 Copy constructor.
 ~Clik ()
Clik & operator= (const Clik &x)
 Overload = operator.
void q_qdot (const Quaternion &qd, const ColumnVector &pd, const ColumnVector &pddot, const ColumnVector &wd, ColumnVector &q, ColumnVector &qp)
 Obtain joints position and velocity.

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.

Private Attributes

Real dt
 Time frame.
Real eps
 Range of singular region in Jacobian DLS inverse.
Real lambda_max
 Damping factor in Jacobian DLS inverse.
short robot_type
 Robot type used.
Robot robot
 Robot instance.
mRobot mrobot
 mRobot instance.
mRobot_min_para mrobot_min_para
 mRobot_min_para instance.
DiagonalMatrix Kp
 Position error gain.
DiagonalMatrix Ko
 Orientation error gain.
ColumnVector q
 Clik joint position.
ColumnVector qp
 Clik joint velocity.
ColumnVector qp_prev
 Clik previous joint velocity.
ColumnVector Kpep
 Kp times position error.
ColumnVector Koe0Quat
 Ko times orientation error (quaternion vector part).
ColumnVector v
 Quaternion vector part.

Constructor & Destructor Documentation

ROBOOP::Clik::Clik (   )  [inline]
 

Definition at line 85 of file clik.h.

ROBOOP::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.

Definition at line 52 of file clik.cpp.

ROBOOP::Clik::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.

Definition at line 90 of file clik.cpp.

ROBOOP::Clik::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.

Definition at line 128 of file clik.cpp.

ROBOOP::Clik::Clik (  const Clik &  x  ) 
 

Copy constructor.

Definition at line 162 of file clik.cpp.

ROBOOP::Clik::~Clik (   )  [inline]
 

Definition at line 94 of file clik.h.

Member Function Documentation

int ROBOOP::Clik::endeff_pos_ori_err (  const ColumnVector &  pd,
const ColumnVector &  pddot,
const Quaternion &  qqqd,
const ColumnVector &  wd
)  [private]
 

Obtain end effector position and orientation error.

Parameters:
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= (  const Clik &  x  ) 
 

Overload = operator.

Definition at line 191 of file clik.cpp.

void ROBOOP::Clik::q_qdot (  const Quaternion &  qd,
const ColumnVector &  pd,
const ColumnVector &  pdd,
const ColumnVector &  wd,
ColumnVector &  q_,
ColumnVector &  qp_
) 
 

Obtain joints position and velocity.

Parameters:
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

Real ROBOOP::Clik::dt [private]
 

Time frame.

Definition at line 104 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

Real ROBOOP::Clik::eps [private]
 

Range of singular region in Jacobian DLS inverse.

Definition at line 104 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

DiagonalMatrix ROBOOP::Clik::Ko [private]
 

Orientation error gain.

Definition at line 111 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), and operator=().

ColumnVector ROBOOP::Clik::Koe0Quat [private]
 

Ko times orientation error (quaternion vector part).

Definition at line 114 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

DiagonalMatrix ROBOOP::Clik::Kp [private]
 

Position error gain.

Definition at line 111 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), and operator=().

ColumnVector ROBOOP::Clik::Kpep [private]
 

Kp times position error.

Definition at line 114 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

Real ROBOOP::Clik::lambda_max [private]
 

Damping factor in Jacobian DLS inverse.

Definition at line 104 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

mRobot ROBOOP::Clik::mrobot [private]
 

mRobot instance.

Definition at line 109 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

mRobot_min_para ROBOOP::Clik::mrobot_min_para [private]
 

mRobot_min_para instance.

Definition at line 110 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

ColumnVector ROBOOP::Clik::q [private]
 

Clik joint position.

Definition at line 114 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

ColumnVector ROBOOP::Clik::qp [private]
 

Clik joint velocity.

Definition at line 114 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

ColumnVector ROBOOP::Clik::qp_prev [private]
 

Clik previous joint velocity.

Definition at line 114 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

Robot ROBOOP::Clik::robot [private]
 

Robot instance.

Definition at line 108 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

short ROBOOP::Clik::robot_type [private]
 

Robot type used.

Definition at line 107 of file clik.h.

Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().

ColumnVector ROBOOP::Clik::v [private]
 

Quaternion vector part.

Definition at line 114 of file clik.h.

Referenced by Clik(), operator=(), and q_qdot().

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

ROBOOP v1.21a
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