AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
Static Public Member Functions | List of all members
GraspConstrainer Class Reference

The GraspConstrainer class. More...

#include <graspConstrainer.h>

Static Public Member Functions

static std::vector< double > calculateGraspVelocities_arm (Eigen::Matrix< double, 6, ARM_DOF > w_J_man, Eigen::Matrix4d otherEE_T_EE)
 calculateGraspVelocities_arm for effect of firm grasp only on the arm More...
 
static std::vector< double > calculateGraspVelocities_armVeh (Eigen::Matrix< double, 6, TOT_DOF > w_Jee_robot, Eigen::Matrix4d wTotherPeg, Eigen::Matrix4d wTee)
 calculateGraspVelocities_armVeh for effect of firm grasp on the arm and on the vehicle More...
 

Detailed Description

The GraspConstrainer class.

Method to calculate the "Firm Grasp Constraint". If the end effector goes away from the peg of the other robot, this function is needed to calculate velocities that drive again the ee towards the other robot peg. In practice it fakes a firm grasp assumptions, velocity generates can be seen as the one provided by friction in real situation.

Class with only static method, so no costructor is callable. In practice this is used as namespace, but used the class so it is similar to collision prop

Definition at line 23 of file graspConstrainer.h.

Member Function Documentation

std::vector< double > GraspConstrainer::calculateGraspVelocities_arm ( Eigen::Matrix< double, 6, ARM_DOF >  w_J_man,
Eigen::Matrix4d  otherEE_T_EE 
)
static

calculateGraspVelocities_arm for effect of firm grasp only on the arm

Parameters
w_J_man
otherEE_T_EE
Returns

Definition at line 5 of file graspConstrainer.cpp.

std::vector< double > GraspConstrainer::calculateGraspVelocities_armVeh ( Eigen::Matrix< double, 6, TOT_DOF >  w_Jee_robot,
Eigen::Matrix4d  wTotherPeg,
Eigen::Matrix4d  wTee 
)
static

calculateGraspVelocities_armVeh for effect of firm grasp on the arm and on the vehicle

Parameters
world_J_veh_ee
otherEE_T_EE
Returns

Definition at line 38 of file graspConstrainer.cpp.

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