cartesian_planning::SdfRepulsionParameters Struct Reference

Tunables for the SDF repulsion nullspace task. More...

#include <sdf_repulsion_task.hpp>

Public Attributes
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.
double	gain = 0.0
	Joint-radians per meter of penetration into the activation zone.
double	damping = 0.0
	Damping factor used in the damped pseudoinverse that maps the Cartesian nudge to joint deltas. Same convention as cartesian_planning::dampedLeastSquaresInverse and velocityInverseKinematics elsewhere in this package. Must be > 0.

Detailed 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.

Member Data Documentation

activation_distance

double cartesian_planning::SdfRepulsionParameters::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.

damping

double cartesian_planning::SdfRepulsionParameters::damping = 0.0

Damping factor used in the damped pseudoinverse that maps the Cartesian nudge to joint deltas. Same convention as cartesian_planning::dampedLeastSquaresInverse and velocityInverseKinematics elsewhere in this package. Must be > 0.

gain

double cartesian_planning::SdfRepulsionParameters::gain = 0.0

Joint-radians per meter of penetration into the activation zone.

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

• sdf_repulsion_task.hpp