pr2_arm_ik.h
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34 
35 /* Author: Sachin Chitta */
36 
37 #pragma once
38 
39 #include <urdf_model/model.h>
40 #include <urdf/model.h>
41 #include <Eigen/Geometry>
42 #include <Eigen/LU> // provides LU decomposition
43 #include <kdl/chainiksolver.hpp>
44 #include <moveit_msgs/GetPositionFK.h>
45 #include <moveit_msgs/GetPositionIK.h>
46 #include <moveit_msgs/KinematicSolverInfo.h>
47 
49 {
50 static const int NUM_JOINTS_ARM7DOF = 7;
51 
52 static const double IK_EPS = 1e-5;
53 
54 inline double distance(const urdf::Pose& transform)
55 {
56  return sqrt(transform.position.x * transform.position.x + transform.position.y * transform.position.y +
57  transform.position.z * transform.position.z);
58 }
59 
60 inline bool solveQuadratic(const double& a, const double& b, const double& c, double* x1, double* x2)
61 {
62  double discriminant = b * b - 4 * a * c;
63  if (fabs(a) < IK_EPS)
64  {
65  *x1 = -c / b;
66  *x2 = *x1;
67  return true;
68  }
69  // ROS_DEBUG("Discriminant: %f\n",discriminant);
70  if (discriminant >= 0)
71  {
72  *x1 = (-b + sqrt(discriminant)) / (2 * a);
73  *x2 = (-b - sqrt(discriminant)) / (2 * a);
74  return true;
75  }
76  else if (fabs(discriminant) < IK_EPS)
77  {
78  *x1 = -b / (2 * a);
79  *x2 = -b / (2 * a);
80  return true;
81  }
82  else
83  {
84  *x1 = -b / (2 * a);
85  *x2 = -b / (2 * a);
86  return false;
87  }
88 }
89 
90 inline bool solveCosineEqn(const double& a, const double& b, const double& c, double& soln1, double& soln2)
91 {
92  double theta1 = atan2(b, a);
93  double denom = sqrt(a * a + b * b);
94 
95  if (fabs(denom) < IK_EPS) // should never happen, wouldn't make sense but make sure it is checked nonetheless
96  {
97 #ifdef DEBUG
98  std::cout << "denom: " << denom << std::endl;
99 #endif
100  return false;
101  }
102  double rhs_ratio = c / denom;
103  if (rhs_ratio < -1 || rhs_ratio > 1)
104  {
105 #ifdef DEBUG
106  std::cout << "rhs_ratio: " << rhs_ratio << std::endl;
107 #endif
108  return false;
109  }
110  double acos_term = acos(rhs_ratio);
111  soln1 = theta1 + acos_term;
112  soln2 = theta1 - acos_term;
113 
114  return true;
115 }
116 
117 class PR2ArmIK
118 {
119 public:
125  PR2ArmIK();
126  ~PR2ArmIK(){};
127 
135  bool init(const urdf::ModelInterface& robot_model, const std::string& root_name, const std::string& tip_name);
136 
142  void computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double& shoulder_pan_initial_guess,
143  std::vector<std::vector<double> >& solution) const;
144 
150  void computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double& shoulder_roll_initial_guess,
151  std::vector<std::vector<double> >& solution) const;
152 
153  // std::vector<std::vector<double> > solution_ik_;/// a vector of ik solutions
154 
160  void getSolverInfo(moveit_msgs::KinematicSolverInfo& info);
161 
165  moveit_msgs::KinematicSolverInfo solver_info_;
166 
168 
169 private:
170  void addJointToChainInfo(const urdf::JointConstSharedPtr& joint, moveit_msgs::KinematicSolverInfo& info);
171 
172  bool checkJointLimits(const std::vector<double>& joint_values) const;
173 
174  bool checkJointLimits(const double& joint_value, const int& joint_num) const;
175 
176  Eigen::Isometry3f grhs_, gf_, home_inv_;
177 
178  std::vector<double> angle_multipliers_;
179 
180  std::vector<double> solution_;
181 
184 
185  std::vector<double> min_angles_;
186 
187  std::vector<double> max_angles_;
188 
189  std::vector<bool> continuous_joint_;
190 };
191 } // namespace pr2_arm_kinematics
pr2_arm_kinematics::PR2ArmIK::upperarm_elbow_offset_
double upperarm_elbow_offset_
Definition: pr2_arm_ik.h:214
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:81
pr2_arm_kinematics
Definition: pr2_arm_ik.h:48
pr2_arm_kinematics::PR2ArmIK::addJointToChainInfo
void addJointToChainInfo(const urdf::JointConstSharedPtr &joint, moveit_msgs::KinematicSolverInfo &info)
Definition: pr2_arm_ik.cpp:154
pr2_arm_kinematics::solveCosineEqn
bool solveCosineEqn(const double &a, const double &b, const double &c, double &soln1, double &soln2)
Definition: pr2_arm_ik.h:122
pr2_arm_kinematics::PR2ArmIK::min_angles_
std::vector< double > min_angles_
Definition: pr2_arm_ik.h:217
pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_y_
double torso_shoulder_offset_y_
Definition: pr2_arm_ik.h:215
pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_x_
double torso_shoulder_offset_x_
Definition: pr2_arm_ik.h:215
pr2_arm_kinematics::PR2ArmIK::angle_multipliers_
std::vector< double > angle_multipliers_
Definition: pr2_arm_ik.h:210
pr2_arm_kinematics::NUM_JOINTS_ARM7DOF
static const int NUM_JOINTS_ARM7DOF
Definition: pr2_arm_ik.h:82
pr2_arm_kinematics::PR2ArmIK::home_inv_
Eigen::Isometry3f home_inv_
Definition: pr2_arm_ik.h:208
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
pr2_arm_kinematics::solveQuadratic
bool solveQuadratic(const double &a, const double &b, const double &c, double *x1, double *x2)
Definition: pr2_arm_ik.h:92
pr2_arm_kinematics::PR2ArmIK::shoulder_elbow_offset_
double shoulder_elbow_offset_
Definition: pr2_arm_ik.h:215
pr2_arm_kinematics::PR2ArmIK::computeIKShoulderRoll
void computeIKShoulderRoll(const Eigen::Isometry3f &g_in, const double &shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution) const
compute IK based on an initial guess for the shoulder roll angle. h
Definition: pr2_arm_ik.cpp:462
pr2_arm_kinematics::PR2ArmIK::continuous_joint_
std::vector< bool > continuous_joint_
Definition: pr2_arm_ik.h:221
pr2_arm_kinematics::PR2ArmIK::solution_
std::vector< double > solution_
Definition: pr2_arm_ik.h:212
pr2_arm_kinematics::PR2ArmIK::init
bool init(const urdf::ModelInterface &robot_model, const std::string &root_name, const std::string &tip_name)
Initialize the solver by providing a urdf::Model and a root and tip name.
Definition: pr2_arm_ik.cpp:56
pr2_arm_kinematics::PR2ArmIK::grhs_
Eigen::Isometry3f grhs_
Definition: pr2_arm_ik.h:208
pr2_arm_kinematics::PR2ArmIK::getSolverInfo
void getSolverInfo(moveit_msgs::KinematicSolverInfo &info)
get chain information about the arm. This populates the IK query response, filling in joint level inf...
Definition: pr2_arm_ik.cpp:192
pr2_arm_kinematics::PR2ArmIK::computeIKShoulderPan
void computeIKShoulderPan(const Eigen::Isometry3f &g_in, const double &shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution) const
compute IK based on an initial guess for the shoulder pan angle.
Definition: pr2_arm_ik.cpp:197
pr2_arm_kinematics::PR2ArmIK::shoulder_wrist_offset_
double shoulder_wrist_offset_
Definition: pr2_arm_ik.h:214
pr2_arm_kinematics::PR2ArmIK::gf_
Eigen::Isometry3f gf_
Definition: pr2_arm_ik.h:208
model.h
pr2_arm_kinematics::PR2ArmIK::PR2ArmIK
PR2ArmIK()
Definition: pr2_arm_ik.cpp:52
pr2_arm_kinematics::PR2ArmIK::shoulder_upperarm_offset_
double shoulder_upperarm_offset_
Definition: pr2_arm_ik.h:214
pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_z_
double torso_shoulder_offset_z_
Definition: pr2_arm_ik.h:215
pr2_arm_kinematics::PR2ArmIK::checkJointLimits
bool checkJointLimits(const std::vector< double > &joint_values) const
Definition: pr2_arm_ik.cpp:766
pr2_arm_kinematics::PR2ArmIK::elbow_wrist_offset_
double elbow_wrist_offset_
Definition: pr2_arm_ik.h:214
pr2_arm_kinematics::IK_EPS
static const double IK_EPS
Definition: pr2_arm_ik.h:84
pr2_arm_kinematics::distance
double distance(const urdf::Pose &transform)
Definition: pr2_arm_ik.h:86
pr2_arm_kinematics::PR2ArmIK::solver_info_
moveit_msgs::KinematicSolverInfo solver_info_
get chain information about the arm.
Definition: pr2_arm_ik.h:197
pr2_arm_kinematics::PR2ArmIK::max_angles_
std::vector< double > max_angles_
Definition: pr2_arm_ik.h:219
pr2_arm_kinematics::PR2ArmIK::~PR2ArmIK
~PR2ArmIK()
Definition: pr2_arm_ik.h:158


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Oct 21 2020 03:28:04