Addition of two angular constraints #6
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… Removed trajectory file writing items to be placed in a separate branch.
Levi-Armstrong
requested changes
Aug 16, 2018
| @@ -104,4 +103,102 @@ struct CartVelCalculator : VectorOfVector | |||
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| VectorXd operator()(const VectorXd& dof_vals) const; | |||
| }; | |||
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| enum Axis { | |||
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Need to namespace the enum see here
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Are we using C++11? Could use enum class instead.
| }; | ||
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| /** | ||
| * @brief The ConfinedAxisErrCalculator is a truct whose operator() calculates error of a given |
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| /** | ||
| * @brief The ConfinedAxisErrCalculator is a truct whose operator() calculates error of a given | ||
| * pose with respect ot the confined rotation along the defined axis. |
| link_(link), | ||
| tcp_(tcp), | ||
| axis_(axis), | ||
| tol_(tol_angle * M_PI / 180.0) |
| * @param env | ||
| * @param link | ||
| * @param axis Axis of rotation | ||
| * @param tol_angle Tolerance in radians |
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Add a note that this is a +/- range
| Eigen::Affine3d tcp; /**< Tool center point */ | ||
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| Axis axis; /**< Axis given a conical tolerance */ | ||
| double tol; /**< Cone angle in degrees */ |
| Eigen::Affine3d tcp; /**< Tool center point */ | ||
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| Axis axis; /**< Axis allowed to rotate */ | ||
| double tol; /**< Rotation acceptable in degrees */ |
trajopt/src/kinematic_terms.cpp
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| VectorXd err(1); | ||
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| // determine the error of the rotation | ||
| switch(axis_) { |
trajopt/src/kinematic_terms.cpp
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| return err; | ||
| } | ||
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| VectorXd ConicalAxisErrCalculator::operator()(const VectorXd& dof_vals) const { |
trajopt/src/kinematic_terms.cpp
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| VectorXd err(1); | ||
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| // determine the error of the conical axis | ||
| switch(axis_) { |
…o AlignedAxis. AlignedAxis is currently not interacting consistently with positional constraints
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Changed from the earlier pull request. Removed the file writing functionality and refactored some code.