#include <QPController.hpp>

Public Member Functions
	QPController (double h, const rw::kinematics::State &state, rw::models::Device *device)
	Construct QPController object. More...

virtual	~QPController ()
	destructor

rw::math::Q	solve (const rw::math::Q &q, const rw::math::Q &dq, const rw::math::VelocityScrew6D<> &tcpscrew)
	Computes joint velocities for a tool velocity. More...

Detailed Description

The QPController provides an visual servoing control scheme, which is based on quadratic optimization. The method computes the \(\mathbf{\dot{q}}\) minimizing \(\|\mathbf{J}\mathbf{\dot{q}}-\mathbf{\dot{x}}\|^2\), subject to the joint position, velocity and acceleration limits.

See the paper: L.-P. Ellekilde, P. Favrhold, M. Paulin and H.G. Petersen, "Robust Control for High-Speed Visual Servoing Applications", To appear in International Journal for Advanced Robotic Systems, vol. 4, no. 3, 2007.

Constructor & Destructor Documentation

◆ QPController()

QPController	(	double	h,
		const rw::kinematics::State &	state,
		rw::models::Device *	device
	)

Construct QPController object.

Parameters

h	[in] step-size to use
state	[in] state of the workcell
device	[in] device to control

Member Function Documentation

◆ solve()

rw::math::Q solve	(	const rw::math::Q &	q,
		const rw::math::Q &	dq,
		const rw::math::VelocityScrew6D<> &	tcpscrew
	)

Computes joint velocities for a tool velocity.

The method provides the, in a least square sense, optimal joint velocity for the specified tool velocity screw. That is the \(\mathbf{\dot{q}}\) minimizing \(\|\mathbf{J}\mathbf{\dot{q}}-\mathbf{\dot{x}}\|^2\), subject to the joint position, velocity and acceleration limits.