CollisionPropagator Class Reference

The CollisionPropagator class It is used to propagate a force suffered by the tip (where the passed jacob world_J_veh_tip and trasf matrix wTpegtip point) to the whole arm, providing the resultant joint velocities. These velocities act as a "disturb" so they must be added to the control vector output of the tpik procedure. More...

#include <collisionPropagator.h>

Static Public Member Functions
static std::vector< double >	calculateCollisionDisturbArmVeh (Eigen::Matrix< double, 6, TOT_DOF >world_J_tip, Eigen::Matrix4d wTpegtip, Eigen::Vector3d forces, Eigen::Vector3d torques)
static std::vector< double >	calculateCollisionDisturb (Eigen::Matrix< double, 6, ARM_DOF >world_J_veh_tip, Eigen::Matrix4d wTpegtip, Eigen::Vector3d forces, Eigen::Vector3d torques)
static std::vector< double >	calculateCollisionDisturbVeh (Eigen::Matrix< double, 6, VEHICLE_DOF >world_J_veh_tip, Eigen::Matrix4d wTpegtip, Eigen::Vector3d forces, Eigen::Vector3d torques)

Detailed Description

The CollisionPropagator class It is used to propagate a force suffered by the tip (where the passed jacob world_J_veh_tip and trasf matrix wTpegtip point) to the whole arm, providing the resultant joint velocities. These velocities act as a "disturb" so they must be added to the control vector output of the tpik procedure.

Class with only static method, so no costructor is callable. In practice this is used as namespace, but used the class so private method can be here

Definition at line 20 of file collisionPropagator.h.

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

• src/peg/src/controller/header/collisionPropagator.h
• src/peg/src/controller/collisionPropagator.cpp