Class ManipulabilityRatio

Defined in File manipulability_moveit.h

Inheritance Relationships

Base Type

public reach_ros::evaluation::ManipulabilityMoveIt (Class ManipulabilityMoveIt)

Class Documentation

class ManipulabilityRatio : public reach_ros::evaluation::ManipulabilityMoveIt 

Public Functions

virtual double calculateScore(const Eigen::MatrixXd &jacobian_singular_values) const override

ManipulabilityMoveIt(moveit::core::RobotModelConstPtr model, const std::string &planning_group, std::vector<Eigen::Index> jacobian_row_subset)