armarx::view_selection::gaze_controller Namespace Reference

Namespaces
namespace	arondto
namespace	atan2
namespace	constants
namespace	gaze_ik
	This file is part of ArmarX.

Classes
struct	GazeControllerStatus
	Periodic report of the low-level gaze controller's residual. More...
interface	GazeControllerStatusListener
struct	GazeResidual
	How far the gaze currently is from a target. More...
class	StatusReporter
	Collects the gaze residual on the control side and reports it on a topic. More...

Typedefs
using	Target = ::armarx::view_selection::gaze_targets::GazeTarget

Functions
GazeResidual	computeGazeResidual (const Eigen::Vector3f &currentGazeDirection, const Eigen::Vector3f &targetDirection, float targetDistance)
	The gaze residual, in a form that means the same thing for every controller variant.

Typedef Documentation

Target

using Target = ::armarx::view_selection::gaze_targets::GazeTarget

Definition at line 8 of file types.h.

Function Documentation

computeGazeResidual()

GazeResidual computeGazeResidual	(	const Eigen::Vector3f &	currentGazeDirection,
		const Eigen::Vector3f &	targetDirection,
		float	targetDistance )

The gaze residual, in a form that means the same thing for every controller variant.

Taking two directions rather than a robot node keeps the optical axis convention out of here: each variant supplies its gaze ray using the convention it already works in – atan2 rebuilds it from its own yaw/pitch parametrization, gaze_ik takes the axis of the virtual prismatic joint that is its gaze ray. Thresholds set on the result are therefore portable between them.

Degenerate input (a target at the gaze origin, or a zero-length direction) yields a zero residual rather than NaN.

Parameters

currentGazeDirection	Where the robot is looking. Need not be normalized.
targetDirection	Where the target is. Need not be normalized.
targetDistance	Distance to the target [mm].

Definition at line 10 of file gaze_residual.cpp.

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