planners/ik_mpep/IK_Jacobian.cpp File Reference

#include "synchronization/semaphore.h"
#include "Kinematics\DH_Link.h"
#include "Kinematics\Jacobian.h"
#include "assert.h"
#include <math/matrix4x4.h>
#include <math/Matrixmxn.h>
#include <math/vector4.h>
#include "CollisionDetectors\CD_Swiftpp.h"
#include "IK_Jacobian.h"

Include dependency graph for IK_Jacobian.cpp:

Go to the source code of this file.

Defines
#define	LogMatrix(a, b, c)
#define	LogVector(a, b, c)
#define	LogMessage(a, b)
Variables
static const int	FRAMEDOF = 6
static const int	SAMPLING_PERIOD = 1
static const double	INFINITY = LONG_MAX
static const double	DEFAULT_OBS_TOL = 0.01
static const double	DEFAULT_PATH_TOL = 0.5
static const double	DEFAULT_ANG_TOL = 2
static const double	DEFAULT_VEL = 1
static const double	DEFAULT_OBS_GAIN = 0.1
static const double	DEFAULT_REL_IMP = 1
static const double	MAX_OBS_VEL = 0.5
static const double	MAX_JOINT_VEL = (M_PI/10.)
static const double	CALCULATION_FREQ = 100
static const double	UNITY_GAIN_DISTANCE = 0.5
static const double	SOI_GAIN_DISTANCE = 1.5
static const double	DEFAULT_HOMO_GAIN = 0.25

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Define Documentation

#define LogMatrix (  a, b, c   )

Definition at line 17 of file IK_Jacobian.cpp.

#define LogMessage (  a, b   )

Definition at line 19 of file IK_Jacobian.cpp.

#define LogVector (  a, b, c   )

Definition at line 18 of file IK_Jacobian.cpp.

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Variable Documentation

const double CALCULATION_FREQ = 100 [static]

Definition at line 41 of file IK_Jacobian.cpp.

const double DEFAULT_ANG_TOL = 2 [static]

Definition at line 30 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::IK_Jacobian().

const double DEFAULT_HOMO_GAIN = 0.25 [static]

Definition at line 44 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::IK_Jacobian().

const double DEFAULT_OBS_GAIN = 0.1 [static]

Definition at line 34 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::IK_Jacobian().

const double DEFAULT_OBS_TOL = 0.01 [static]

Definition at line 26 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::IK_Jacobian().

const double DEFAULT_PATH_TOL = 0.5 [static]

Definition at line 28 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::IK_Jacobian().

const double DEFAULT_REL_IMP = 1 [static]

Definition at line 36 of file IK_Jacobian.cpp.

const double DEFAULT_VEL = 1 [static]

Definition at line 32 of file IK_Jacobian.cpp.

const int FRAMEDOF = 6 [static]

Definition at line 22 of file IK_Jacobian.cpp. Referenced by IK_InvKinBase::GetGoalFrameVector(), IK_InvKinBase::GetRotVector(), IK_InvKinBase::GetTransformFrame(), IK_Jacobian::IK_Jacobian(), and IK_InvKinBase::SetGoalFrame().

const double INFINITY = LONG_MAX [static]

Definition at line 25 of file IK_Jacobian.cpp.

const double MAX_JOINT_VEL = (M_PI/10.) [static]

Definition at line 40 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::CheckJointVelocities().

const double MAX_OBS_VEL = 0.5 [static]

Definition at line 39 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::ComputeHomogeneousTerm().

const int SAMPLING_PERIOD = 1 [static]

Definition at line 23 of file IK_Jacobian.cpp.

const double SOI_GAIN_DISTANCE = 1.5 [static]

Definition at line 43 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::ComputeHomogeneousTerm().

const double UNITY_GAIN_DISTANCE = 0.5 [static]

Definition at line 42 of file IK_Jacobian.cpp. Referenced by IK_Jacobian::ComputeHomogeneousTerm().

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