nullspace_tasks.hpp File Reference

#include <Eigen/Core>

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Namespaces
namespace	cartesian_planning

Functions
Eigen::VectorXd	cartesian_planning::jointLimitAvoidanceTask (const Eigen::VectorXd &lower_limits, const Eigen::VectorXd &upper_limits, const Eigen::VectorXd &joint_values, double activation_fraction, double gain)
	A nullspace task to stay away from joint limits.