Clik Class Reference

Handle Closed Loop Inverse Kinematics scheme. More...

#include <clik.h>

Public Member Functions
	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 &	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. More...

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. More...

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.

Detailed Description

Handle Closed Loop Inverse Kinematics scheme.

Definition at line 84 of file clik.h.

Member Function Documentation

int Clik::endeff_pos_ori_err ( const ColumnVector &  pd, const ColumnVector &  pdd, 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.
qqqd,:	Desired eff orientation in base frame.
wd,:	Desired eff angular velocity in base frame.

Definition at line 221 of file clik.cpp.

References CLICK_DH, CLICK_mDH, CLICK_mDH_min_para, Robot_basic::kine(), Ko, Koe0Quat, Kp, Kpep, mrobot, mrobot_min_para, q, robot, robot_type, Quaternion::s(), Robot_basic::set_q(), Quaternion::v(), and x_prod_matrix().

Referenced by q_qdot().

void 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 266 of file clik.cpp.

References CLICK_DH, CLICK_mDH, CLICK_mDH_min_para, dt, endeff_pos_ori_err(), eps, Integ_Trap(), Robot_basic::jacobian_DLS_inv(), Koe0Quat, Kpep, lambda_max, mrobot, mrobot_min_para, q, qp, qp_prev, robot, robot_type, Robot_basic::set_q(), and v.