#include <exotica_core/task_map.h>
#include <exotica_core_task_maps/manipulability_initializer.h>

Include dependency graph for manipulability.h:

Classes
class	exotica::Manipulability
	Manipulability measure. The manipulability measure for a robot at a given joint configuration indicates dexterity, that is, how isotropic the robot's motion is with respect to the task space motion. The measure is high when the manipulator is capable of equal motion in all directions and low when the manipulator is close to a singularity. This task map implements Yoshikawa's manipulability measure. More...

Classes

Namespaces