Class ManipulabilityScaled
Defined in File manipulability_moveit.h
Inheritance Relationships
Base Type
public reach_ros::evaluation::ManipulabilityMoveIt(Class ManipulabilityMoveIt)
Class Documentation
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class ManipulabilityScaled : public reach_ros::evaluation::ManipulabilityMoveIt
Computes the manipulability of a robot pose divided by the characteristic length of the robot.
Public Functions
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ManipulabilityScaled(moveit::core::RobotModelConstPtr model, const std::string &planning_group, std::vector<Eigen::Index> jacobian_row_subset, std::vector<std::string> excluded_links)
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virtual double calculateScore(const Eigen::MatrixXd &jacobian_singular_values) const override
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ManipulabilityScaled(moveit::core::RobotModelConstPtr model, const std::string &planning_group, std::vector<Eigen::Index> jacobian_row_subset, std::vector<std::string> excluded_links)