humoto::pepper_ik::Model< t_features >::Constraints Class Reference

Detailed Description

template<int t_features>
class humoto::pepper_ik::Model< t_features >::Constraints

Definition at line 126 of file model.h.

#include <model.h>

Public Member Functions
	Constraints ()
	Initialize bounds. More...
void	checkJointPositions (const JointAnglesVector &joint_angles) const
	Check joint angle position bounds. More...
void	checkJointVelocities (const JointAnglesVector &joint_angles_from, const JointAnglesVector &joint_angles_to, const double dt) const
	Check joint velocity bounds. More...
void	checkWheelVelocities (const etools::Vector3 &velocities) const
	Check velocities of the wheels. More...

Public Attributes
double	error_tol_
JointAnglesVector	joint_position_bounds_max_
JointAnglesVector	joint_position_bounds_min_
JointAnglesVector	joint_velocity_bounds_
etools::Vector3	wheel_velocities_max_

Constructor & Destructor Documentation

Constraints()

template<int t_features>

humoto::pepper_ik::Model< t_features >::Constraints::Constraints ( )

inline

Initialize bounds.

Definition at line 140 of file model.h.

Member Function Documentation

checkJointPositions()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::Constraints::checkJointPositions ( const JointAnglesVector &  joint_angles ) const

inline

Check joint angle position bounds.

Parameters

[in]

joint_angles

Definition at line 158 of file model.h.

checkJointVelocities()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::Constraints::checkJointVelocities ( const JointAnglesVector &  joint_angles_from, const JointAnglesVector &  joint_angles_to, const double  dt  ) const

inline

Check joint velocity bounds.

Parameters

[in]	joint_angles_from	from this configuration
[in]	joint_angles_to	to this configuration
[in]	dt	within this time interval

Definition at line 206 of file model.h.

checkWheelVelocities()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::Constraints::checkWheelVelocities ( const etools::Vector3 &  velocities ) const

inline

Check velocities of the wheels.

Parameters

[in]

velocities

Definition at line 231 of file model.h.

Member Data Documentation

error_tol_

template<int t_features>

double humoto::pepper_ik::Model< t_features >::Constraints::error_tol_

Definition at line 133 of file model.h.

joint_position_bounds_max_

template<int t_features>

JointAnglesVector humoto::pepper_ik::Model< t_features >::Constraints::joint_position_bounds_max_

Definition at line 130 of file model.h.

joint_position_bounds_min_

template<int t_features>

JointAnglesVector humoto::pepper_ik::Model< t_features >::Constraints::joint_position_bounds_min_

Definition at line 129 of file model.h.

joint_velocity_bounds_

template<int t_features>

JointAnglesVector humoto::pepper_ik::Model< t_features >::Constraints::joint_velocity_bounds_

Definition at line 131 of file model.h.

wheel_velocities_max_

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::Constraints::wheel_velocities_max_

Definition at line 132 of file model.h.

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The documentation for this class was generated from the following file:

• modules/pepper_ik/include/pepper_ik/model.h