fsb_kinematic_redundancy.h

 
#ifndef FSB_KINEMATICS_REDUNDANCY_H
#define FSB_KINEMATICS_REDUNDANCY_H
 
#include "fsb_joint.h"
#include "fsb_linalg.h"
#include "fsb_jacobian.h"
 
namespace fsb
{
 
struct JointLimits;
 
fsb::LinalgErrorType
jacobian_pseudoinverse(const Jacobian& jacobian, Jacobian& inverse_jacobian, size_t dofs);
 
JointSpace compute_nullspace_motion(
    const Jacobian& jacobian, const Jacobian& inverse_jacobian, const JointSpace& joint_motion,
    size_t dofs);
 
JointSpace
compute_nullspace_motion(const Jacobian& jacobian, const JointSpace& joint_motion, size_t dofs);
 
JointSpace joint_limit_avoidance_objective(
    const JointSpacePosition& joint_positions, const JointLimits& joint_limits, size_t dofs,
    double gain = 0.1);
 
} // namespace fsb
 
#endif