kinematics_metrics::KinematicsMetrics Class Reference

Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability. More...

#include <kinematics_metrics.h>

List of all members.

Public Member Functions
bool	getManipulability (const robot_state::RobotState &state, const std::string &group_name, double &condition_number, bool translation=false) const
	Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
bool	getManipulability (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, double &condition_number, bool translation=false) const
	Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
bool	getManipulabilityEllipsoid (const robot_state::RobotState &state, const std::string &group_name, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const
	Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
bool	getManipulabilityEllipsoid (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const
	Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
bool	getManipulabilityIndex (const robot_state::RobotState &state, const std::string &group_name, double &manipulability_index, bool translation=false) const
	Get the manipulability for a given group at a given joint configuration.
bool	getManipulabilityIndex (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, double &manipulability_index, bool translation=false) const
	Get the manipulability for a given group at a given joint configuration.
const double &	getPenaltyMultiplier () const
	KinematicsMetrics (const robot_model::RobotModelConstPtr &robot_model)
	Construct a KinematicsMetricss from a RobotModel.
void	setPenaltyMultiplier (double multiplier)
Protected Attributes
robot_model::RobotModelConstPtr	robot_model_
Private Member Functions
double	getJointLimitsPenalty (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group) const
	Defines a multiplier for the manipulabilty = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit * distance_to_higher_limit/(joint_range*joint_range))) where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with finite bounds are considered. Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures. See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis, Ohio State University, 1986, for more details.
Private Attributes
double	penalty_multiplier_

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Detailed Description

Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability.

Definition at line 51 of file kinematics_metrics.h.

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Constructor & Destructor Documentation

kinematics_metrics::KinematicsMetrics::KinematicsMetrics

(

const robot_model::RobotModelConstPtr &

robot_model

)

[inline]

Construct a KinematicsMetricss from a RobotModel.

Definition at line 56 of file kinematics_metrics.h.

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Member Function Documentation

double kinematics_metrics::KinematicsMetrics::getJointLimitsPenalty	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	joint_model_group
	)		const [private]

Defines a multiplier for the manipulabilty = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit * distance_to_higher_limit/(joint_range*joint_range))) where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with finite bounds are considered. Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures. See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis, Ohio State University, 1986, for more details.

Returns:

multiplier that is multiplied with every manipulability measure computed here

Definition at line 44 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulability	(	const robot_state::RobotState &	state,
		const std::string &	group_name,
		double &	condition_number,
		bool	translation = false
	)		const

Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.

Parameters:

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
condition_number	Condition number for JJ^T

Returns:

False if the group was not found

Definition at line 194 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulability	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	joint_model_group,
		double &	condition_number,
		bool	translation = false
	)		const

Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.

Parameters:

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
condition_number	Condition number for JJ^T

Returns:

False if the group was not found

Definition at line 206 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulabilityEllipsoid	(	const robot_state::RobotState &	state,
		const std::string &	group_name,
		Eigen::MatrixXcd &	eigen_values,
		Eigen::MatrixXcd &	eigen_vectors
	)		const

Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.

Parameters:

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
eigen_values	The eigen values for the translation part of JJ^T
eigen_vectors	The eigen vectors for the translation part of JJ^T

Returns:

False if the group was not found

Definition at line 163 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulabilityEllipsoid	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	joint_model_group,
		Eigen::MatrixXcd &	eigen_values,
		Eigen::MatrixXcd &	eigen_vectors
	)		const

Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.

Parameters:

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
eigen_values	The eigen values for the translation part of JJ^T
eigen_vectors	The eigen vectors for the translation part of JJ^T

Returns:

False if the group was not found

Definition at line 175 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulabilityIndex	(	const robot_state::RobotState &	state,
		const std::string &	group_name,
		double &	manipulability_index,
		bool	translation = false
	)		const

Get the manipulability for a given group at a given joint configuration.

Parameters:

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
manipulability_index	The computed manipulability = sqrt(det(JJ^T))

Returns:

False if the group was not found

Definition at line 89 of file kinematics_metrics.cpp.

bool kinematics_metrics::KinematicsMetrics::getManipulabilityIndex	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	joint_model_group,
		double &	manipulability_index,
		bool	translation = false
	)		const

Get the manipulability for a given group at a given joint configuration.

Parameters:

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
manipulability_index	The computed manipulability = sqrt(det(JJ^T))

Returns:

False if the group was not found

Definition at line 101 of file kinematics_metrics.cpp.

const double& kinematics_metrics::KinematicsMetrics::getPenaltyMultiplier

(

)

const [inline]

Definition at line 144 of file kinematics_metrics.h.

void kinematics_metrics::KinematicsMetrics::setPenaltyMultiplier

(

double

multiplier

)

[inline]

Definition at line 139 of file kinematics_metrics.h.

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Member Data Documentation

double kinematics_metrics::KinematicsMetrics::penalty_multiplier_ [private]

Definition at line 167 of file kinematics_metrics.h.

robot_model::RobotModelConstPtr kinematics_metrics::KinematicsMetrics::robot_model_ [protected]

Definition at line 151 of file kinematics_metrics.h.

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The documentation for this class was generated from the following files:

• kinematics_metrics.h
• kinematics_metrics.cpp