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

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

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

Definition at line 972 of file CollisionAvoidance.cpp.

Here is the caller graph for this function: