Public Member Functions | Private Attributes
InverseDifferentialKinematicsSolver Class Reference

#include <inverse_differential_kinematics_solver.h>

List of all members.

Public Member Functions

virtual int CartToJnt (const JointStates &joint_states, const KDL::Twist &v_in, KDL::JntArray &qdot_out)
 InverseDifferentialKinematicsSolver (const TwistControllerParams &params, const KDL::Chain &chain, CallbackDataMediator &data_mediator)
void resetAll (TwistControllerParams params)
virtual ~InverseDifferentialKinematicsSolver ()

Private Attributes

CallbackDataMediatorcallback_data_mediator_
const KDL::Chain chain_
ConstraintSolverFactory constraint_solver_factory_
KDL::ChainFkSolverVel_recursive fk_solver_vel_
KDL::Jacobian jac_
KDL::ChainJntToJacSolver jnt2jac_
boost::shared_ptr
< KinematicExtensionBase
kinematic_extension_
LimiterParams limiter_params_
boost::shared_ptr
< LimiterContainer
limiters_
TwistControllerParams params_
TaskStackController_t task_stack_controller_

Detailed Description

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. It uses a svd-calculation based on householders rotations.

Definition at line 42 of file inverse_differential_kinematics_solver.h.


Constructor & Destructor Documentation

Constructor of the solver

Parameters:
chainthe chain to calculate the inverse velocity kinematics for

Definition at line 52 of file inverse_differential_kinematics_solver.h.

Definition at line 69 of file inverse_differential_kinematics_solver.h.


Member Function Documentation

int InverseDifferentialKinematicsSolver::CartToJnt ( const JointStates joint_states,
const KDL::Twist v_in,
KDL::JntArray qdot_out 
) [virtual]

CartToJnt for chain using SVD considering KinematicExtensions and various DampingMethods

Solve the inverse kinematics problem at the first order differential level.

Let the ChainJntToJacSolver calculate the jacobian "jac_chain" for the current joint positions "q_in"

append columns to Jacobian in order to reflect additional DoFs of kinematical extension

apply input limiters for limiting Cartesian velocities (input Twist)

convert output

output limiters shut be applied here in order to be able to consider the additional DoFs within "AllLimit", too

process result for kinematical extension

then qdot_out shut be resized to contain only the chain_qdot_out's again

Definition at line 27 of file inverse_differential_kinematics_solver.cpp.

Definition at line 88 of file inverse_differential_kinematics_solver.cpp.


Member Data Documentation

Definition at line 89 of file inverse_differential_kinematics_solver.h.

Definition at line 83 of file inverse_differential_kinematics_solver.h.

Definition at line 92 of file inverse_differential_kinematics_solver.h.

Definition at line 85 of file inverse_differential_kinematics_solver.h.

Definition at line 84 of file inverse_differential_kinematics_solver.h.

Definition at line 86 of file inverse_differential_kinematics_solver.h.

Definition at line 91 of file inverse_differential_kinematics_solver.h.

Definition at line 88 of file inverse_differential_kinematics_solver.h.

Definition at line 90 of file inverse_differential_kinematics_solver.h.

Definition at line 87 of file inverse_differential_kinematics_solver.h.

Definition at line 94 of file inverse_differential_kinematics_solver.h.


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


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26