ROBOOP::Clik Class Reference

#include <clik.h>

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.