armarx::control::common::control_law::helper Namespace Reference

Functions
Eigen::Vector4f	calculateTransitionWeights (float z1, float z2)
	helper functions

Function Documentation

calculateTransitionWeights()

Eigen::Vector4f calculateTransitionWeights	(	float	z1,
		float	z2 )

helper functions

helpers

Define the constraint matrix for the null space transition function

in transition state (state between full locking and unrestricted movement for a contin- uous control law) a third-order polynomial with four weight values is required In this method the weights are calculated in the preactivate method based on the set threshold parameters z1 and z2

z1: state of full locking starts with this value z2: state of unrestricted movement starts with this value

Define the constraint result values for the null space transition function

weights for continuous task transition