2.8 The CLIK class
The CLICK class deals with closed-loop inverse kinematics algorithm based on
the unit quaternion [14].
Constructor
Syntax
Clik(){}
Clik(const Robot & robot_, const Matrix & Kp_, const Matrix & Ko_,
const Real eps_=0.04, const Real lambda_max_=0.04,
const Real dt=1.0);
Clik(const mRobot & mrobot_, const Matrix & Kp_, const Matrix & Ko_,
const Real eps_=0.04, const Real lambda_max_=0.04,
const Real dt=1.0);
Clik(const mRobot_min_para & mrobot_min_para_, const Matrix & Kp_,
const Matrix & Ko_, const Real eps_=0.04,
const Real lambda_max_=0.04, const Real dt=1.0);
Clik(const Clik & x);
Clik & operator=(const Clik & x);
Description
CLIK object constructor, copy constructor and equal operator.
Return Value
None
q_qdot
Syntax
void q_qdot(const Quaternion & qd, const ColumnVector & pd,
const ColumnVector & pddot, const ColumnVector & wd,
ColumnVector & q, ColumnVector & qp);
Description
This function sets the desired orientation joint position q and the desired joint
velocity qp.
Return Value
None