Damped Least-Squares Inverse Kinematic Solution. More...

#include <constrained_ik.h>

Inheritance diagram for constrained_ik::Constrained_IK:

Public Member Functions
virtual void	addConstraint (Constraint *constraint)
	Add a new constraint to this IK solver.
virtual void	calcInvKin (const Eigen::Affine3d &pose, const Eigen::VectorXd &joint_seed, Eigen::VectorXd &joint_angles)
bool	checkInitialized () const
	Checks to see if object is initialized (ie: init() has been called)
void	clearConstraintList ()
	Delete all constraints.
	Constrained_IK ()
bool	getJointNames (std::vector< std::string > &names) const
	Getter for joint names.
double	getJointUpdateGain () const
	Getter for joint_update_gain_ (gain used to scale joint diff in IK loop)
double	getJtCnvTolerance () const
	Getter for joint_convergence_tol_ (convergence criteria in IK loop) Used to check if solution is progressing or has settled.
const basic_kin::BasicKin &	getKin () const
	Getter for kinematics object.
bool	getLinkNames (std::vector< std::string > &names) const
	Getter for link names.
unsigned int	getMaxIter () const
	Getter for max_iter_ (maximum allowable iterations in IK loop)
const SolverState &	getState () const
	Getter for latest solver state.
void	init (const urdf::Model &robot, const std::string &base_name, const std::string &tip_name)
	Initializes object with robot info.
virtual void	init (const basic_kin::BasicKin &kin)
	Initializes object with kinematic model of robot.
bool	linkTransforms (const Eigen::VectorXd &joints, std::vector< KDL::Frame > &poses, const std::vector< std::string > link_names=std::vector< std::string >()) const
unsigned int	numJoints () const
	Getter for BasicKin numJoints.
void	setJointUpdateGain (const double gain)
	Setter for joint_update_gain_ (gain used to scale joint diff in IK loop)
void	setJtCnvTolerance (const double jt_cnv_tol)
	Setter for joint_convergence_tol_ (convergence criteria in IK loop)
void	setMaxIter (const unsigned int max_iter)
	Setter for man_iter_ (maximum allowable iterations in IK loop)
virtual	~Constrained_IK ()
Static Public Member Functions
static double	rangedAngle (double angle)
	Translates an angle to lie between +/-PI.
Protected Member Functions
virtual Eigen::VectorXd	calcConstraintError ()
	Pure definition for calculating constraint error.
virtual Eigen::MatrixXd	calcConstraintJacobian ()
	Pure definition for calculating Jacobian.
virtual bool	checkStatus () const
void	clipToJointLimits (Eigen::VectorXd &joints)
virtual void	reset (const Eigen::Affine3d &goal, const Eigen::VectorXd &joint_seed)
virtual void	update (const Eigen::VectorXd &joints)
Protected Attributes
ConstraintGroup	constraints_
bool	debug_
bool	initialized_
std::vector< Eigen::VectorXd >	iteration_path_
double	joint_convergence_tol_
double	joint_update_gain_
basic_kin::BasicKin	kin_
unsigned int	max_iter_
SolverState	state_

Detailed Description

Damped Least-Squares Inverse Kinematic Solution.

see derived classes for more complex constrained-IK solvers

Definition at line 38 of file constrained_ik.h.

Constructor & Destructor Documentation

constrained_ik::Constrained_IK::Constrained_IK ( )

Definition at line 30 of file constrained_ik.cpp.

virtual constrained_ik::Constrained_IK::~Constrained_IK ( ) [inline, virtual]

Definition at line 43 of file constrained_ik.h.

Member Function Documentation

virtual void constrained_ik::Constrained_IK::addConstraint ( Constraint * constraint ) [inline, virtual]

Add a new constraint to this IK solver.

Parameters:

constraint Constraint to limit IK solution

Definition at line 54 of file constrained_ik.h.

Eigen::VectorXd constrained_ik::Constrained_IK::calcConstraintError ( ) [protected, virtual]

Pure definition for calculating constraint error.

Returns:: Error vector (b-input in calcPInv)

Definition at line 39 of file constrained_ik.cpp.

Eigen::MatrixXd constrained_ik::Constrained_IK::calcConstraintJacobian ( ) [protected, virtual]

Pure definition for calculating Jacobian.

Returns:: Jacobian matrix (A-input in calcPInv)

Definition at line 44 of file constrained_ik.cpp.

void constrained_ik::Constrained_IK::calcInvKin	(	const Eigen::Affine3d &	pose,
		const Eigen::VectorXd &	joint_seed,
		Eigen::VectorXd &	joint_angles
	)		`[virtual]`

Definition at line 49 of file constrained_ik.cpp.

bool constrained_ik::Constrained_IK::checkInitialized ( ) const [inline]

Checks to see if object is initialized (ie: init() has been called)

Returns:: True if object is initialized

Definition at line 62 of file constrained_ik.h.

bool constrained_ik::Constrained_IK::checkStatus ( ) const [protected, virtual]

Definition at line 84 of file constrained_ik.cpp.

void constrained_ik::Constrained_IK::clearConstraintList ( )

Delete all constraints.

Definition at line 108 of file constrained_ik.cpp.

void constrained_ik::Constrained_IK::clipToJointLimits ( Eigen::VectorXd & joints ) [protected]

Definition at line 113 of file constrained_ik.cpp.

bool constrained_ik::Constrained_IK::getJointNames ( std::vector< std::string > & names ) const [inline]

Getter for joint names.

Parameters:

names Output vector of strings naming all joints in robot

Returns:: True if BasicKin object is initialized

Definition at line 72 of file constrained_ik.h.

double constrained_ik::Constrained_IK::getJointUpdateGain ( ) const [inline]

Getter for joint_update_gain_ (gain used to scale joint diff in IK loop)

Returns:: Value of joint_update_gain_

Definition at line 77 of file constrained_ik.h.

double constrained_ik::Constrained_IK::getJtCnvTolerance ( ) const [inline]

Getter for joint_convergence_tol_ (convergence criteria in IK loop) Used to check if solution is progressing or has settled.

Returns:: Value of joint_convergence_tol_

Definition at line 83 of file constrained_ik.h.

const basic_kin::BasicKin& constrained_ik::Constrained_IK::getKin ( ) const [inline]

Getter for kinematics object.

Returns:: Reference to active kinematics object

Definition at line 88 of file constrained_ik.h.

bool constrained_ik::Constrained_IK::getLinkNames ( std::vector< std::string > & names ) const [inline]

Getter for link names.

Parameters:

names Output vector of strings naming all links in robot

Returns:: True is BasicKin object is initialized

Definition at line 94 of file constrained_ik.h.

unsigned int constrained_ik::Constrained_IK::getMaxIter ( ) const [inline]

Getter for max_iter_ (maximum allowable iterations in IK loop)

Returns:: Value of max_iter_

Definition at line 99 of file constrained_ik.h.

const SolverState& constrained_ik::Constrained_IK::getState ( ) const [inline]

Getter for latest solver state.

Returns:: Latest solver state

Definition at line 104 of file constrained_ik.h.

void constrained_ik::Constrained_IK::init	(	const urdf::Model &	robot,
		const std::string &	base_name,
		const std::string &	tip_name
	)

Initializes object with robot info.

Parameters:

robot	Robot urdf information
base_name	Name of base link
tip_name	Name of tip link

Definition at line 129 of file constrained_ik.cpp.

void constrained_ik::Constrained_IK::init ( const basic_kin::BasicKin & kin ) [virtual]

Initializes object with kinematic model of robot.

Parameters:

kin	BasicKin object with robot info

Definition at line 138 of file constrained_ik.cpp.

bool constrained_ik::Constrained_IK::linkTransforms	(	const Eigen::VectorXd &	joints,
		std::vector< KDL::Frame > &	poses,
		const std::vector< std::string >	link_names = `std::vector<std::string>()`
	)		const `[inline]`