tvm::task_dynamics::VelocityDamper::AnisotropicConfig Class Reference

#include <tvm/task_dynamics/VelocityDamper.h>

Public Member Functions
	AnisotropicConfig (const VectorConstRef &di, const VectorConstRef &ds, const VectorConstRef &xsi, const std::optional< VectorConstRef > &xsiOff=std::nullopt)
	AnisotropicConfig (const Config &config)

Public Attributes
Eigen::VectorXd	di_
Eigen::VectorXd	ds_
Eigen::VectorXd	xsi_
Eigen::VectorXd	xsiOff_

Detailed Description

A structure grouping the parameters for an anisotropic velocity damper.

See also

VelocityDamper

Constructor & Destructor Documentation

AnisotropicConfig() [1/2]

tvm::task_dynamics::VelocityDamper::AnisotropicConfig::AnisotropicConfig	(	const VectorConstRef &	di,
		const VectorConstRef &	ds,
		const VectorConstRef &	xsi,
		const std::optional< VectorConstRef > &	xsiOff = std::nullopt
	)

Parameters

di	interaction distance \(d_i\). We need \( d_i > d_s \).
ds	safety distance \(d_s\).
xsi	damping parameter \(\xi \). If xsi = 0, the value will be computed automatically, otherwise, we need \(\xi > 0\). In automatic mode, the value is recomputed each time the error value is at a distance to its bound lower or equal to \di with the formula \( \xi = -\dfrac{d_i - d_s}{d^k - d_s} \dot{d}^k + \xi_{\mathrm{off}} \).
xsiOff	offset \( \xi_{\mathrm{off}} \) used in the automatic computation of \(\xi\). Used only in the case xsi=0.

All parameters must be of the same size

AnisotropicConfig() [2/2]

tvm::task_dynamics::VelocityDamper::AnisotropicConfig::AnisotropicConfig

(

const Config &

config

)

Construct from a non-anisotropic configuration

Parameters

config

Configuration to use

Member Data Documentation

di_

Eigen::VectorXd tvm::task_dynamics::VelocityDamper::AnisotropicConfig::di_

ds_

Eigen::VectorXd tvm::task_dynamics::VelocityDamper::AnisotropicConfig::ds_

xsi_

Eigen::VectorXd tvm::task_dynamics::VelocityDamper::AnisotropicConfig::xsi_

xsiOff_

Eigen::VectorXd tvm::task_dynamics::VelocityDamper::AnisotropicConfig::xsiOff_

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

• include/tvm/task_dynamics/VelocityDamper.h