Simox  2.3.74.0
VirtualRobot::PoseQualityExtendedManipulability::extManipData Struct Reference

Public Member Functions

 extManipData ()
 
void reset ()
 

Data Fields

Eigen::MatrixXf U [64]
 
Eigen::MatrixXf V [64]
 
Eigen::VectorXf sv [64]
 
Eigen::MatrixXf singVectors [64]
 
Eigen::MatrixXf jacPen [64]
 
Eigen::VectorXf penLo
 
Eigen::VectorXf penHi
 
Eigen::MatrixXf jac
 
int nrJoints
 
int cartDim
 
float minSV
 
float maxSV
 
float extManip_InvCondNumber
 
float extManip_Volume
 
bool obstacles
 
Eigen::VectorXf obstVect
 
Eigen::MatrixXf penObstLo
 
Eigen::MatrixXf penObstHi
 
int consideFirstSV
 

Constructor & Destructor Documentation

◆ extManipData()

VirtualRobot::PoseQualityExtendedManipulability::extManipData::extManipData ( )
inline

Member Function Documentation

◆ reset()

void VirtualRobot::PoseQualityExtendedManipulability::extManipData::reset ( )
inline

Field Documentation

◆ cartDim

int VirtualRobot::PoseQualityExtendedManipulability::extManipData::cartDim

◆ consideFirstSV

int VirtualRobot::PoseQualityExtendedManipulability::extManipData::consideFirstSV

◆ extManip_InvCondNumber

float VirtualRobot::PoseQualityExtendedManipulability::extManipData::extManip_InvCondNumber

◆ extManip_Volume

float VirtualRobot::PoseQualityExtendedManipulability::extManipData::extManip_Volume

◆ jac

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::jac

◆ jacPen

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::jacPen[64]

◆ maxSV

float VirtualRobot::PoseQualityExtendedManipulability::extManipData::maxSV

◆ minSV

float VirtualRobot::PoseQualityExtendedManipulability::extManipData::minSV

◆ nrJoints

int VirtualRobot::PoseQualityExtendedManipulability::extManipData::nrJoints

◆ obstacles

bool VirtualRobot::PoseQualityExtendedManipulability::extManipData::obstacles

◆ obstVect

Eigen::VectorXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::obstVect

◆ penHi

Eigen::VectorXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::penHi

◆ penLo

Eigen::VectorXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::penLo

◆ penObstHi

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::penObstHi

◆ penObstLo

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::penObstLo

◆ singVectors

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::singVectors[64]

◆ sv

Eigen::VectorXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::sv[64]

◆ U

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::U[64]

◆ V

Eigen::MatrixXf VirtualRobot::PoseQualityExtendedManipulability::extManipData::V[64]