sbpl_arm_planner::RPYSolver Class Reference

#include <orientation_solver.h>

Public Member Functions
void	getStats (std::vector< double > &stats)
	get a list of stats (number of calls etc.)
bool	isOrientationFeasible (const double *rpy, std::vector< double > &start, std::vector< double > &prefinal, std::vector< double > &final)
	check if a certain end effector orientation is feasible
void	orientationSolver (double *, double, double, double, double, double, double, double, double, double, int)
	Function calculates the forearm roll, wrist pitch and wrist roll for the PR2 robot hand which is required to attain a certain yaw, pitch and roll configuration in the world frame, starting at a certain yaw, pitch and roll configuration. Do not use for other robots unless the joints are of the same nature and the reference frame conventions are the same.
void	printStats ()
	print stats to stdout
	RPYSolver (SBPLArmModel arm, SBPLCollisionSpace cspace)
	~RPYSolver ()
Private Attributes
SBPLArmModel *	arm_
SBPLCollisionSpace *	cspace_
int	num_calls_
int	num_invalid_path_to_solution_
int	num_invalid_predictions_
int	num_invalid_solution_
bool	try_both_directions_
bool	verbose_

Detailed Description

Definition at line 24 of file orientation_solver.h.

Constructor & Destructor Documentation

sbpl_arm_planner::RPYSolver::RPYSolver	(	SBPLArmModel *	arm,
		SBPLCollisionSpace *	cspace
	)

Definition at line 23 of file orientation_solver.cpp.

sbpl_arm_planner::RPYSolver::~RPYSolver ( ) [inline]

Definition at line 30 of file orientation_solver.h.

Member Function Documentation

void sbpl_arm_planner::RPYSolver::getStats ( std::vector< double > & stats )

get a list of stats (number of calls etc.)

bool sbpl_arm_planner::RPYSolver::isOrientationFeasible	(	const double *	rpy,
		std::vector< double > &	start,
		std::vector< double > &	prefinal,
		std::vector< double > &	final
	)

check if a certain end effector orientation is feasible

Definition at line 367 of file orientation_solver.cpp.

void sbpl_arm_planner::RPYSolver::orientationSolver	(	double *	output,
		double	phi,
		double	theta,
		double	psi,
		double	yaw1,
		double	pitch1,
		double	roll1,
		double	yaw2,
		double	pitch2,
		double	roll2,
		int	attempt
	)

Function calculates the forearm roll, wrist pitch and wrist roll for the PR2 robot hand which is required to attain a certain yaw, pitch and roll configuration in the world frame, starting at a certain yaw, pitch and roll configuration. Do not use for other robots unless the joints are of the same nature and the reference frame conventions are the same.

Somehow the wrist_roll calculations from within this code don't seem to be right. This problem has been temporarily solved by invoking FK from environment_robarm3d.cpp

Definition at line 36 of file orientation_solver.cpp.

void sbpl_arm_planner::RPYSolver::printStats ( )

print stats to stdout

Definition at line 485 of file orientation_solver.cpp.