TRAC_IK::TRAC_IK Class Reference

#include <trac_ik.hpp>

List of all members.

Public Member Functions
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero())
bool	getKDLChain (KDL::Chain &chain_)
bool	getKDLLimits (KDL::JntArray &lb_, KDL::JntArray &ub_)
bool	getSolutions (std::vector< KDL::JntArray > &solutions_)
bool	getSolutions (std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_)
bool	setKDLLimits (KDL::JntArray &lb_, KDL::JntArray &ub_)
void	SetSolveType (SolveType _type)
	TRAC_IK (const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
	TRAC_IK (const std::string &base_link, const std::string &tip_link, const std::string &URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
	~TRAC_IK ()
Static Public Member Functions
static double	JointErr (const KDL::JntArray &arr1, const KDL::JntArray &arr2)
Private Member Functions
void	initialize ()
double	manipPenalty (const KDL::JntArray &)
double	ManipValue1 (const KDL::JntArray &)
double	ManipValue2 (const KDL::JntArray &)
bool	myEqual (const KDL::JntArray &a, const KDL::JntArray &b)
void	normalize_limits (const KDL::JntArray &seed, KDL::JntArray &solution)
void	normalize_seed (const KDL::JntArray &seed, KDL::JntArray &solution)
bool	runKDL (const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool	runNLOPT (const KDL::JntArray &q_init, const KDL::Frame &p_in)
template<typename T1 , typename T2 >
bool	runSolver (T1 &solver, T2 &other_solver, const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool	unique_solution (const KDL::JntArray &sol)
Static Private Member Functions
static double	fRand (double min, double max)
Private Attributes
KDL::Twist	bounds
KDL::Chain	chain
double	eps
std::vector< std::pair< double, uint > >	errors
std::unique_ptr < KDL::ChainIkSolverPos_TL >	iksolver
bool	initialized
std::unique_ptr < KDL::ChainJntToJacSolver >	jacsolver
KDL::JntArray	lb
double	maxtime
std::mutex	mtx_
std::unique_ptr < NLOPT_IK::NLOPT_IK >	nl_solver
std::vector< KDL::JntArray >	solutions
SolveType	solvetype
boost::posix_time::ptime	start_time
std::thread	task1
std::thread	task2
std::vector< KDL::BasicJointType >	types
KDL::JntArray	ub

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Detailed Description

Definition at line 47 of file trac_ik.hpp.

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Constructor & Destructor Documentation

TRAC_IK::TRAC_IK::TRAC_IK	(	const KDL::Chain &	_chain,
		const KDL::JntArray &	_q_min,
		const KDL::JntArray &	_q_max,
		double	_maxtime = 0.005,
		double	_eps = 1e-5,
		SolveType	_type = Speed
	)

Definition at line 133 of file trac_ik.cpp.

TRAC_IK::TRAC_IK::TRAC_IK	(	const std::string &	base_link,
		const std::string &	tip_link,
		const std::string &	URDF_param = "/robot_description",
		double	_maxtime = 0.005,
		double	_eps = 1e-5,
		SolveType	_type = Speed
	)

Definition at line 43 of file trac_ik.cpp.

TRAC_IK::TRAC_IK::~TRAC_IK

(

)

Definition at line 462 of file trac_ik.cpp.

---

Member Function Documentation

int TRAC_IK::TRAC_IK::CartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const KDL::Twist &	bounds = KDL::Twist::Zero()
	)

Definition at line 413 of file trac_ik.cpp.

static double TRAC_IK::TRAC_IK::fRand	(	double	min,
		double	max
	)		[inline, static, private]

Definition at line 145 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getKDLChain

(

KDL::Chain &

chain_

)

[inline]

Definition at line 56 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getKDLLimits	(	KDL::JntArray &	lb_,
		KDL::JntArray &	ub_
	)		[inline]

Definition at line 62 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getSolutions

(

std::vector< KDL::JntArray > &

solutions_

)

[inline]

Definition at line 70 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getSolutions	(	std::vector< KDL::JntArray > &	solutions_,
		std::vector< std::pair< double, uint > > &	errors_
	)		[inline]

Definition at line 76 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::initialize

(

)

[private]

Definition at line 145 of file trac_ik.cpp.

static double TRAC_IK::TRAC_IK::JointErr	(	const KDL::JntArray &	arr1,
		const KDL::JntArray &	arr2
	)		[inline, static]

Definition at line 91 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::manipPenalty

(

const KDL::JntArray &

arr

)

[private]

Definition at line 371 of file trac_ik.cpp.

double TRAC_IK::TRAC_IK::ManipValue1

(

const KDL::JntArray &

arr

)

[private]

Definition at line 385 of file trac_ik.cpp.

double TRAC_IK::TRAC_IK::ManipValue2

(

const KDL::JntArray &

arr

)

[private]

Definition at line 400 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::myEqual	(	const KDL::JntArray &	a,
		const KDL::JntArray &	b
	)		[inline, private]

Definition at line 160 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::normalize_limits	(	const KDL::JntArray &	seed,
		KDL::JntArray &	solution
	)		[private]

Definition at line 335 of file trac_ik.cpp.

void TRAC_IK::TRAC_IK::normalize_seed	(	const KDL::JntArray &	seed,
		KDL::JntArray &	solution
	)		[private]

Definition at line 305 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::runKDL	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)		[inline, private]

Definition at line 169 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::runNLOPT	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)		[inline, private]

Definition at line 174 of file trac_ik.hpp.

template<typename T1 , typename T2 >

bool TRAC_IK::TRAC_IK::runSolver	(	T1 &	solver,
		T2 &	other_solver,
		const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)		[private]

Definition at line 225 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::setKDLLimits	(	KDL::JntArray &	lb_,
		KDL::JntArray &	ub_
	)		[inline]

Definition at line 82 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::SetSolveType

(

SolveType

_type

)

[inline]

Definition at line 104 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::unique_solution

(

const KDL::JntArray &

sol

)

[private]

Definition at line 175 of file trac_ik.cpp.

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Member Data Documentation

KDL::Twist TRAC_IK::TRAC_IK::bounds [private]

Definition at line 141 of file trac_ik.hpp.

KDL::Chain TRAC_IK::TRAC_IK::chain [private]

Definition at line 111 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::eps [private]

Definition at line 114 of file trac_ik.hpp.

std::vector<std::pair<double, uint> > TRAC_IK::TRAC_IK::errors [private]

Definition at line 138 of file trac_ik.hpp.

std::unique_ptr<KDL::ChainIkSolverPos_TL> TRAC_IK::TRAC_IK::iksolver [private]

Definition at line 119 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::initialized [private]

Definition at line 110 of file trac_ik.hpp.

std::unique_ptr<KDL::ChainJntToJacSolver> TRAC_IK::TRAC_IK::jacsolver [private]

Definition at line 113 of file trac_ik.hpp.

KDL::JntArray TRAC_IK::TRAC_IK::lb [private]

Definition at line 112 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::maxtime [private]

Definition at line 115 of file trac_ik.hpp.

std::mutex TRAC_IK::TRAC_IK::mtx_ [private]

Definition at line 136 of file trac_ik.hpp.

std::unique_ptr<NLOPT_IK::NLOPT_IK> TRAC_IK::TRAC_IK::nl_solver [private]

Definition at line 118 of file trac_ik.hpp.

std::vector<KDL::JntArray> TRAC_IK::TRAC_IK::solutions [private]

Definition at line 137 of file trac_ik.hpp.

SolveType TRAC_IK::TRAC_IK::solvetype [private]

Definition at line 116 of file trac_ik.hpp.

boost::posix_time::ptime TRAC_IK::TRAC_IK::start_time [private]

Definition at line 121 of file trac_ik.hpp.

std::thread TRAC_IK::TRAC_IK::task1 [private]

Definition at line 140 of file trac_ik.hpp.

std::thread TRAC_IK::TRAC_IK::task2 [private]

Definition at line 140 of file trac_ik.hpp.

std::vector<KDL::BasicJointType> TRAC_IK::TRAC_IK::types [private]

Definition at line 134 of file trac_ik.hpp.

KDL::JntArray TRAC_IK::TRAC_IK::ub [private]

Definition at line 112 of file trac_ik.hpp.

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

• trac_ik.hpp
• trac_ik.cpp