#include <ik_solver.h>

Public Types
enum	EndpointCoupling { Position = 1, Orientation = 2, Pose = Position \| Orientation }
	Kinematic coupling with reference frame. More...
typedef std::vector < EndpointCoupling >	EndpointCouplingList
typedef std::vector< std::string >	EndpointNameList
Public Member Functions
	IkSolver (const KDL::Tree &tree, const EndpointNameList &endpoint_names, const EndpointCouplingList &endpoint_couplings)
	IkSolver (const KDL::Chain &chain)
	Conveniece constructor for the particular case of solving for the pose of a single endpoint.
void	setEpsilon (double eps)
void	setJointPositionLimits (const Eigen::VectorXd &q_min, const Eigen::VectorXd &q_max)
void	setJointSpaceWeights (const Eigen::VectorXd &Wq)
	Contains diagonal elements of matrix (nondiagonal not yet supported)
void	setMaxDeltaPosJoint (double delta_joint_pos_max)
void	setMaxDeltaPosTask (double delta_twist_max)
void	setMaxIterations (std::size_t max_iter)
void	setPosture (const KDL::JntArray &q_posture)
void	setTaskSpaceWeights (const Eigen::VectorXd &Wq)
	Contains diagonal elements of matrix (nondiagonal not yet supported)
void	setVelocityIkGain (double velik_gain)
bool	solve (const KDL::JntArray &q_current, const std::vector< KDL::Frame > &x_desired, KDL::JntArray &q_next)
bool	solve (const KDL::JntArray &q_current, const KDL::Frame &x_desired, KDL::JntArray &q_next)
virtual	~IkSolver ()
Private Types
typedef std::vector< std::size_t >	CoupledDirections
typedef KDL::TreeFkSolverPos_recursive	FkSolver
	0,1,2 -> xyz translation, 3,4,5 -> xyz rotation
typedef boost::scoped_ptr < FkSolver >	FkSolverPtr
typedef KDL::MatrixInverter < Eigen::MatrixXd >	Inverter
typedef boost::scoped_ptr < Inverter >	InverterPtr
typedef KDL::TreeJntToJacSolver	JacSolver
typedef boost::scoped_ptr < JacSolver >	JacSolverPtr
typedef std::map< std::string, int >	JointNameToIndexMap
Private Member Functions
void	init (const KDL::Tree &tree, const std::vector< std::string > &endpoint_names, const std::vector< EndpointCoupling > &endpoint_couplings)
void	updateDeltaTwist (const KDL::JntArray &q, const std::vector< KDL::Frame > &x_desired)
void	updateJacobian (const KDL::JntArray &q)
Private Attributes
std::vector< CoupledDirections >	coupled_dirs_
double	delta_joint_pos_max_
Eigen::VectorXd	delta_q_
Eigen::VectorXd	delta_twist_
double	delta_twist_max_
std::vector< std::string >	endpoint_names_
double	eps_
FkSolverPtr	fk_solver_
	Forward kinematics solver.
Eigen::MatrixXd	identity_qdim_
InverterPtr	inverter_
	SVD matrix inverter/solver.
JacSolverPtr	jac_solver_
	Jacobian solver.
Eigen::MatrixXd	jacobian_
KDL::Jacobian	jacobian_tmp_
JointNameToIndexMap	joint_name_to_idx_
	Map from joint names to KDL tree indices // TODO: Remove???
boost::scoped_ptr < JointPositionLimitsAvoider >	limits_avoider_
std::size_t	max_iter_
Eigen::MatrixXd	nullspace_projector_
KDL::JntArray	q_posture_
Eigen::VectorXd	q_tmp_
double	velik_gain_
Eigen::VectorXd	Wx_
	Diagonal of task-space weight matrix.

Detailed Description

Definition at line 153 of file ik_solver.h.

Member Typedef Documentation

typedef std::vector<std::size_t> reem_kinematics_constraint_aware::IkSolver::CoupledDirections [private]

Definition at line 199 of file ik_solver.h.

typedef std::vector<EndpointCoupling> reem_kinematics_constraint_aware::IkSolver::EndpointCouplingList

Definition at line 165 of file ik_solver.h.

typedef std::vector<std::string> reem_kinematics_constraint_aware::IkSolver::EndpointNameList

Definition at line 164 of file ik_solver.h.

typedef KDL::TreeFkSolverPos_recursive reem_kinematics_constraint_aware::IkSolver::FkSolver [private]

0,1,2 -> xyz translation, 3,4,5 -> xyz rotation

Definition at line 200 of file ik_solver.h.

typedef boost::scoped_ptr<FkSolver> reem_kinematics_constraint_aware::IkSolver::FkSolverPtr [private]

Definition at line 201 of file ik_solver.h.

typedef KDL::MatrixInverter<Eigen::MatrixXd> reem_kinematics_constraint_aware::IkSolver::Inverter [private]

Definition at line 204 of file ik_solver.h.

typedef boost::scoped_ptr<Inverter> reem_kinematics_constraint_aware::IkSolver::InverterPtr [private]

Definition at line 205 of file ik_solver.h.

typedef KDL::TreeJntToJacSolver reem_kinematics_constraint_aware::IkSolver::JacSolver [private]

Definition at line 202 of file ik_solver.h.

typedef boost::scoped_ptr<JacSolver> reem_kinematics_constraint_aware::IkSolver::JacSolverPtr [private]

Definition at line 203 of file ik_solver.h.

typedef std::map<std::string, int> reem_kinematics_constraint_aware::IkSolver::JointNameToIndexMap [private]

Definition at line 206 of file ik_solver.h.

Member Enumeration Documentation

enum reem_kinematics_constraint_aware::IkSolver::EndpointCoupling

Kinematic coupling with reference frame.

Enumerator:

Position
Orientation
Pose

Definition at line 157 of file ik_solver.h.

Constructor & Destructor Documentation

IkSolver::IkSolver	(	const KDL::Tree &	tree,
		const EndpointNameList &	endpoint_names,
		const EndpointCouplingList &	endpoint_couplings
	)

Definition at line 51 of file ik_solver.cpp.

IkSolver::IkSolver ( const KDL::Chain & chain )

Conveniece constructor for the particular case of solving for the pose of a single endpoint.

Definition at line 58 of file ik_solver.cpp.

IkSolver::~IkSolver ( ) [virtual]

Definition at line 72 of file ik_solver.cpp.

Member Function Documentation

void IkSolver::init	(	const KDL::Tree &	tree,
		const std::vector< std::string > &	endpoint_names,
		const std::vector< EndpointCoupling > &	endpoint_couplings
	)		`[private]`

Definition at line 74 of file ik_solver.cpp.

void reem_kinematics_constraint_aware::IkSolver::setEpsilon ( double eps ) [inline]

Definition at line 192 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setJointPositionLimits	(	const Eigen::VectorXd &	q_min,
		const Eigen::VectorXd &	q_max
	)		`[inline]`

Definition at line 247 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setJointSpaceWeights ( const Eigen::VectorXd & Wq ) [inline]

Contains diagonal elements of matrix (nondiagonal not yet supported)

Definition at line 195 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setMaxDeltaPosJoint ( double delta_joint_pos_max ) [inline]

Definition at line 190 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setMaxDeltaPosTask ( double delta_twist_max ) [inline]

Definition at line 189 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setMaxIterations ( std::size_t max_iter ) [inline]

Definition at line 193 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setPosture ( const KDL::JntArray & q_posture ) [inline]

Note:: Copies values.

Definition at line 194 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setTaskSpaceWeights ( const Eigen::VectorXd & Wq ) [inline]

Contains diagonal elements of matrix (nondiagonal not yet supported)

Definition at line 196 of file ik_solver.h.

void reem_kinematics_constraint_aware::IkSolver::setVelocityIkGain ( double velik_gain ) [inline]

Definition at line 191 of file ik_solver.h.

bool IkSolver::solve	(	const KDL::JntArray &	q_current,
		const std::vector< KDL::Frame > &	x_desired,
		KDL::JntArray &	q_next
	)

Definition at line 157 of file ik_solver.cpp.

bool reem_kinematics_constraint_aware::IkSolver::solve	(	const KDL::JntArray &	q_current,
		const KDL::Frame &	x_desired,
		KDL::JntArray &	q_next
	)		`[inline]`