Add ManipulabilityRatioSigmoidMoveIt #19
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marip8
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Jun 10, 2024
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| double manipulability = jacobian_singular_values.array().prod(); | ||
| double manipulability_ratio = jacobian_singular_values.minCoeff() / jacobian_singular_values.maxCoeff(); | ||
| double manipulability_scaled = std::sqrt(manipulability); | ||
| double manipulability_measure = std::sqrt(manipulability_ratio); |
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Remove unused variables
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| double manipulability = jacobian_singular_values.array().prod(); | |
| double manipulability_ratio = jacobian_singular_values.minCoeff() / jacobian_singular_values.maxCoeff(); | |
| double manipulability_scaled = std::sqrt(manipulability); | |
| double manipulability_measure = std::sqrt(manipulability_ratio); | |
| double manipulability_ratio = jacobian_singular_values.minCoeff() / jacobian_singular_values.maxCoeff(); | |
| double manipulability_measure = std::sqrt(manipulability_ratio); |
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| double score = manipulability_measure; | ||
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| double shifted_score = 50.0 * (score - 0.15); |
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Why is score the square root of the manipulability ratio? Also what is the significance of the hard-coded numbers 50 and 0.15? It seems like these might need to be parameters to give the user some control over the "width" of the sigmoid
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Similar to ManipulabilityRatioMoveit but with an added sigmoid. The sigmoid makes it so that the score is almost always one except when the manipulability ratio is really bad, this makes the total score be the total number of reachable points, which is more understandable.