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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
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The ObstacleAvoidEETask class Usage of this task can be for avoiding with the end effector, ground, objects, or other robot TODO for each obstacle implement a task OTHERWISE set this task not as scalar one but one row for each object to avoid. at the moment it avoid only the seafloor. More...
#include <obstacleAvoidEETask.h>
Public Member Functions | |
| ObstacleAvoidEETask (int dimension, bool eqType, std::string robotName) | |
| int | updateMatrices (struct Infos *const robInfo) |
 Public Member Functions inherited from Task | |
| std::string | getName () |
| CMAT::Matrix | getJacobian () |
| CMAT::Matrix | getActivation () |
| CMAT::Matrix | getReference () |
| CMAT::Matrix | getError () |
| int & | getFlag_W () |
| Task::getFlag_W Various getter methods. More... | |
| double & | getMu_W () |
| Task::getMu_W Various getter methods. More... | |
| int & | getFlag_G () |
| Task::getFlag_G Various getter methods. More... | |
| double & | getMu_G () |
| Task::getMu_G Various getter methods. More... | |
| void | setFlag_W (int) |
| void | setMu_W (double) |
| void | setFlag_G (int) |
| void | setMu_G (double) |
| int | getThreshold () |
| int | getLambda () |
| int | getDof () |
| int | getDimension () |
Additional Inherited Members | |
| Public Attributes inherited from Task | |
| bool | updated |
| bool | eqType |
| double | gain |
| Protected Member Functions inherited from Task | |
| Task (int dimension, bool eqType, std::string robotName, std::string taskName) | |
| Task::Task Constructor called by sons Constructor. without argument dof, default dof from define.h file is used. More... | |
| Protected Attributes inherited from Task | |
| int | dimension |
| int | dof |
| std::string | taskName |
| std::string | robotName |
| CMAT::Matrix | J |
| CMAT::Matrix | A |
| CMAT::Matrix | reference |
| CMAT::Matrix | error |
| int | flag_W |
| double | mu_W |
| int | flag_G |
| double | mu_G |
| int | threshold |
| int | lambda |
The ObstacleAvoidEETask class Usage of this task can be for avoiding with the end effector, ground, objects, or other robot TODO for each obstacle implement a task OTHERWISE set this task not as scalar one but one row for each object to avoid. at the moment it avoid only the seafloor.
Definition at line 14 of file obstacleAvoidEETask.h.
1.8.11
