ct::rbd::JacobiSingularity< ROWS, COLS > Class Template Reference

A class computing codition numbers and singular velues of a Jacobian. More...

#include <JacobiSingularity.h>

Public Types
enum	ManipulabilityMethod { DIRECT, SINGULAR_VALUES }
typedef Eigen::Matrix< double, COLS, ROWS >	PseudoInverse
typedef Eigen::Matrix< double, ROWS, 1 >	SingularValues
typedef Eigen::Matrix< double, ROWS, 1 >	EndeffectorVelocities
typedef Eigen::Matrix< double, COLS, 1 >	JointVelocities

Public Member Functions
	JacobiSingularity (const Jacobian &J)
double	calc_condition_number () const
double	calc_manipulability (ManipulabilityMethod method=DIRECT) const
SingularValues	calc_singular_values () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, ROWS, COLS >	Jacobian

Detailed Description

template<size_t ROWS, size_t COLS>
class ct::rbd::JacobiSingularity< ROWS, COLS >

A class computing codition numbers and singular velues of a Jacobian.

Template Parameters

ROWS	number of rows
CLOS	number of colums

Member Typedef Documentation

PseudoInverse

template<size_t ROWS, size_t COLS>

typedef Eigen::Matrix<double, COLS, ROWS> ct::rbd::JacobiSingularity< ROWS, COLS >::PseudoInverse

SingularValues

template<size_t ROWS, size_t COLS>

typedef Eigen::Matrix<double, ROWS, 1> ct::rbd::JacobiSingularity< ROWS, COLS >::SingularValues

EndeffectorVelocities

template<size_t ROWS, size_t COLS>

typedef Eigen::Matrix<double, ROWS, 1> ct::rbd::JacobiSingularity< ROWS, COLS >::EndeffectorVelocities

JointVelocities

template<size_t ROWS, size_t COLS>

typedef Eigen::Matrix<double, COLS, 1> ct::rbd::JacobiSingularity< ROWS, COLS >::JointVelocities

Member Enumeration Documentation

ManipulabilityMethod

template<size_t ROWS, size_t COLS>

enum ct::rbd::JacobiSingularity::ManipulabilityMethod

Enumerator
DIRECT
SINGULAR_VALUES

Constructor & Destructor Documentation

JacobiSingularity()

template<size_t ROWS, size_t COLS>

ct::rbd::JacobiSingularity< ROWS, COLS >::JacobiSingularity

(

const Jacobian &

J

)

Member Function Documentation

calc_condition_number()

template<size_t ROWS, size_t COLS>

double ct::rbd::JacobiSingularity< ROWS, COLS >::calc_condition_number

(

)

const

The condition number compares the lowest to the highest eigenvalue (for square matrix) or singular value (for others).

High values of ev_max/ev_min imply that some inputs ("null-space") are mapped to values close to zero outputs, e.g. some actions in operational space are restricted.

calc_manipulability()

template<size_t ROWS, size_t COLS>

double ct::rbd::JacobiSingularity< ROWS, COLS >::calc_manipulability

(

ManipulabilityMethod

method = DIRECT

)

const

The manipulability describes the freedom of the endeffector for a given configuration.

Parameters

method

can be calculated directly as described in Siciliano p. 153 or multiplying the singular values of the Jacobian

Returns

the area spanned by all possible ee-velocities.

References i.

calc_singular_values()

template<size_t ROWS, size_t COLS>

JacobiSingularity< ROWS, COLS >::SingularValues ct::rbd::JacobiSingularity< ROWS, COLS >::calc_singular_values

(

)

const

Singular values are used if eigenvalues are not available, as in non- square matrices. With Single Value Decomposition (SVD) . See Siciliano p. 577

Returns

the diagonals in S

Member Data Documentation

Jacobian

template<size_t ROWS, size_t COLS>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<double, ROWS, COLS> ct::rbd::JacobiSingularity< ROWS, COLS >::Jacobian

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/common/math/JacobiSingularity.h