#include <treeiksolverpos_online.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_in, const Frames &p_in, JntArray &q_out) |
TreeIkSolverPos_Online (const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver) | |
~TreeIkSolverPos_Online () | |
Private Member Functions | |
void | enforceCartVelLimits () |
void | enforceJointVelLimits () |
Private Attributes | |
Twists | delta_twists_ |
TreeFkSolverPos & | fksolver_ |
Frames | frames_ |
TreeIkSolverVel & | iksolver_ |
JntArray | q_dot_ |
JntArray | q_dot_max_ |
JntArray | q_max_ |
JntArray | q_min_ |
Twist | twist_ |
double | x_dot_rot_max_ |
double | x_dot_trans_max_ |
Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. This class has been derived from the TreeIkSolverPos_NR_JL class, but was modified for online solving for use in realtime systems. Thus, the calculation is only done once, meaning that no iteration is done, because this solver is intended to run at a high frequency. It enforces velocity limits in task as well as in joint space. It also takes joint limits into account.
Definition at line 44 of file treeiksolverpos_online.hpp.
KDL::TreeIkSolverPos_Online::TreeIkSolverPos_Online | ( | const double & | nr_of_jnts, |
const std::vector< std::string > & | endpoints, | ||
const JntArray & | q_min, | ||
const JntArray & | q_max, | ||
const JntArray & | q_dot_max, | ||
const double | x_dot_trans_max, | ||
const double | x_dot_rot_max, | ||
TreeFkSolverPos & | fksolver, | ||
TreeIkSolverVel & | iksolver | ||
) |
Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints you are interested in, the maximum and minimum values you want to enforce and a forward position kinematics solver as well as an inverse velocity kinematics solver for the calculations
nr_of_jnts | number of joints of the tree to calculate the joint positions for |
endpoints | the list of endpoints you are interested in |
q_min | the minimum joint positions |
q_max | the maximum joint positions |
q_dot_max | the maximum joint velocities |
x_dot_trans_max | the maximum translational velocity of your endpoints |
x_dot_rot_max | the maximum rotational velocity of your endpoints |
fksolver | a forward position kinematics solver |
iksolver | an inverse velocity kinematics solver |
Definition at line 29 of file treeiksolverpos_online.cpp.
Definition at line 59 of file treeiksolverpos_online.cpp.
double KDL::TreeIkSolverPos_Online::CartToJnt | ( | const JntArray & | q_init, |
const Frames & | p_in, | ||
JntArray & | q_out | ||
) | [virtual] |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
q_init | initial guess of the joint coordinates |
p_in | input cartesian coordinates |
q_out | output joint coordinates |
Implements KDL::TreeIkSolverPos.
Definition at line 63 of file treeiksolverpos_online.cpp.
void KDL::TreeIkSolverPos_Online::enforceCartVelLimits | ( | ) | [private] |
Scales translational and rotational velocity vectors of the class member KDL::Twist twist_, if at least one of both exceeds the maximum value/length. Scaling is done propotional to the biggest overshoot among both velocities.
Definition at line 153 of file treeiksolverpos_online.cpp.
void KDL::TreeIkSolverPos_Online::enforceJointVelLimits | ( | ) | [private] |
Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum value. Scaling is done propotional to the biggest overshoot among all joint velocities.
Definition at line 115 of file treeiksolverpos_online.cpp.
Definition at line 102 of file treeiksolverpos_online.hpp.
Definition at line 97 of file treeiksolverpos_online.hpp.
Frames KDL::TreeIkSolverPos_Online::frames_ [private] |
Definition at line 101 of file treeiksolverpos_online.hpp.
Definition at line 98 of file treeiksolverpos_online.hpp.
JntArray KDL::TreeIkSolverPos_Online::q_dot_ [private] |
Definition at line 99 of file treeiksolverpos_online.hpp.
Definition at line 94 of file treeiksolverpos_online.hpp.
JntArray KDL::TreeIkSolverPos_Online::q_max_ [private] |
Definition at line 93 of file treeiksolverpos_online.hpp.
JntArray KDL::TreeIkSolverPos_Online::q_min_ [private] |
Definition at line 92 of file treeiksolverpos_online.hpp.
Twist KDL::TreeIkSolverPos_Online::twist_ [private] |
Definition at line 100 of file treeiksolverpos_online.hpp.
double KDL::TreeIkSolverPos_Online::x_dot_rot_max_ [private] |
Definition at line 96 of file treeiksolverpos_online.hpp.
double KDL::TreeIkSolverPos_Online::x_dot_trans_max_ [private] |
Definition at line 95 of file treeiksolverpos_online.hpp.