SdfRepulsionParameters Struct
Tunables for the SDF repulsion nullspace task. More...
Declaration
Included Headers
Public Member Attributes Index
| double | activation_distance = 0.0 |
|
Surface-clearance distance (m) at which repulsion starts. Sphere-surface clearance less than this triggers a nudge; clearance ≥ this returns zero. Negative clearance (sphere already overlapping) ramps the nudge linearly. More... | |
| double | gain = 0.0 |
|
Joint-radians per meter of penetration into the activation zone. More... | |
| double | damping = 0.0 |
|
Damping factor used in the damped pseudoinverse that maps the Cartesian nudge to joint deltas. Same convention as path_ik::dampedLeastSquaresInverse and velocityInverseKinematics elsewhere in this package. Must be > 0. More... | |
Description
Tunables for the SDF repulsion nullspace task.
Fields default to zero so default construction produces a defined (no-op) value. Callers should still set activation_distance, gain, and damping > 0 explicitly — the precondition check in sdfRepulsionTask rejects non-finite values and non-positive damping.
Definition at line 53 of file sdf_repulsion_task.hpp.
Public Member Attributes
activation_distance
|
Surface-clearance distance (m) at which repulsion starts. Sphere-surface clearance less than this triggers a nudge; clearance ≥ this returns zero. Negative clearance (sphere already overlapping) ramps the nudge linearly.
Definition at line 58 of file sdf_repulsion_task.hpp.
damping
|
Damping factor used in the damped pseudoinverse that maps the Cartesian nudge to joint deltas. Same convention as path_ik::dampedLeastSquaresInverse and velocityInverseKinematics elsewhere in this package. Must be > 0.
Definition at line 64 of file sdf_repulsion_task.hpp.
gain
|
Joint-radians per meter of penetration into the activation zone.
Definition at line 60 of file sdf_repulsion_task.hpp.
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