tesseract_kinematics::ManipulabilityEllipsoid Struct Reference

Used to store Manipulability and Force Ellipsoid data. More...

#include <utils.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::VectorXd	eigen_values
	The manipulability ellipsoid eigen values. More...
double	measure { 0 }
	The ratio of longest and shortes axes of the manipulability ellipsoid. More...
double	condition { 0 }
	The condition number of A. More...
double	volume { 0 }
	This is propotial to the volume. More...

Detailed Description

Used to store Manipulability and Force Ellipsoid data.

Member Data Documentation

condition

double tesseract_kinematics::ManipulabilityEllipsoid::condition { 0 }

The condition number of A.

• condition = (max eigen value) / (min eigen value)

eigen_values

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::VectorXd tesseract_kinematics::ManipulabilityEllipsoid::eigen_values

The manipulability ellipsoid eigen values.

measure

double tesseract_kinematics::ManipulabilityEllipsoid::measure { 0 }

The ratio of longest and shortes axes of the manipulability ellipsoid.

As this grows large it is approaching a singularity

• measure = sqrt(max eigen value) / sqrt(min eigen value)
• This should be greater than or equal to 1
• If equal to 1 it is isotropic

volume

double tesseract_kinematics::ManipulabilityEllipsoid::volume { 0 }

This is propotial to the volume.

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

• tesseract_kinematics/core/include/tesseract_kinematics/core/utils.h