cartesian_planning::SdfControlPoint Struct Reference

A single collision proxy that the SDF nullspace task should push away from obstacles. More...

#include <sdf_repulsion_task.hpp>

Public Attributes
const moveit_pro::base::LinkModel *	jacobian_tip_link = nullptr
	Link used as the Jacobian tip and the FK origin for offset_in_tip_link. Defaults to nullptr so a default-constructed control point produces the documented safe-skip behavior instead of an indeterminate pointer dereference.
Eigen::Vector3d	offset_in_tip_link = Eigen::Vector3d::Zero()
	Sphere center in jacobian_tip_link coordinates (meters).
double	radius = 0.0
	Sphere radius (meters). Subtracted from the SDF distance to obtain surface clearance.

Detailed Description

A single collision proxy that the SDF nullspace task should push away from obstacles.

Each control point models a sphere rigidly attached to jacobian_tip_link. The sphere center in world coordinates is computed from FK as T_world_jacobian_tip_link * offset_in_tip_link. The Jacobian is built with jacobian_tip_link as the kinematic tip, which means joints downstream of that link (e.g. wrist joints when watching the elbow) get zero columns and don't move the sphere. Pick jacobian_tip_link accordingly: usually the link the sphere is fixed to, or one link up the chain if you want a more restrictive control.

Member Data Documentation

jacobian_tip_link

const moveit_pro::base::LinkModel* cartesian_planning::SdfControlPoint::jacobian_tip_link = nullptr

Link used as the Jacobian tip and the FK origin for offset_in_tip_link. Defaults to nullptr so a default-constructed control point produces the documented safe-skip behavior instead of an indeterminate pointer dereference.

offset_in_tip_link

Eigen::Vector3d cartesian_planning::SdfControlPoint::offset_in_tip_link = Eigen::Vector3d::Zero()

Sphere center in jacobian_tip_link coordinates (meters).

radius

double cartesian_planning::SdfControlPoint::radius = 0.0

Sphere radius (meters). Subtracted from the SDF distance to obtain surface clearance.

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

• sdf_repulsion_task.hpp