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ROBOOP::Clik Class Reference#include <clik.h>
Detailed DescriptionHandle Closed Loop Inverse Kinematics scheme.Definition at line 83 of file clik.h.
Constructor & Destructor Documentation
Member Function Documentation
Obtain joints position and velocity.
Obtain end effector position and orientation error.
Definition at line 225 of file clik.cpp. Referenced by q_qdot().
Member Data Documentation
Range of singular region in Jacobian DLS inverse.
Definition at line 104 of file clik.h. Referenced by Clik(), operator=(), and q_qdot().
Damping factor in Jacobian DLS inverse.
Definition at line 104 of file clik.h. Referenced by Clik(), operator=(), and q_qdot().
Robot type used.
Definition at line 107 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
Robot instance.
Definition at line 108 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
mRobot instance.
Definition at line 109 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
mRobot_min_para instance.
Definition at line 110 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
Position error gain.
Definition at line 111 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), and operator=().
Orientation error gain.
Definition at line 111 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), and operator=().
Clik joint position.
Definition at line 114 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
Kp times position error.
Definition at line 114 of file clik.h. Referenced by Clik(), endeff_pos_ori_err(), operator=(), and q_qdot().
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().
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 |
Generated Thu Nov 22 00:51:35 2007 by Doxygen 1.5.4 |