Class Manipulability::ComputeManipulabilityIndexGradient

• Defined in File Manipulability.h

Nested Relationships

This class is a nested type of Class Manipulability.

Inheritance Relationships

Base Type

• public CostFunction (Class CostFunction)

Class Documentation

class ComputeManipulabilityIndexGradient : public CostFunction

The ComputeManipulabilityIndexGradient class implements a worker class to computes the effort for a certain configuration.

Public Functions

inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const Cartesian::Ptr CartesianTask)

inline ComputeManipulabilityIndexGradient(const XBot::ModelInterface &robot_model, const CoM::Ptr CartesianTask)

inline virtual double compute(const Eigen::VectorXd &q)

compute value of function in x

Parameters

x –

Returns

scalar

inline void setW(const Eigen::MatrixXd &W)

inline const Eigen::MatrixXd &getW() const

inline double computeManipulabilityIndex()

Public Members

XBot::ModelInterface::Ptr _robot

const XBot::ModelInterface &_model

Eigen::MatrixXd _W

Eigen::VectorXd _zeros

OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr _CartesianTask