#include <JointPathEx.h>

Inheritance diagram for hrp::JointPathEx:

Public Member Functions
bool	calcInverseKinematics2 (const Vector3 &end_p, const Matrix33 &end_R, const double avoid_gain=0.0, const double reference_gain=0.0, const dvector *reference_q=NULL)
bool	calcInverseKinematics2Loop (const Vector3 &dp, const Vector3 &omega, const double LAMBDA, const double avoid_gain=0.0, const double reference_gain=0.0, const dvector *reference_q=NULL)
bool	calcInverseKinematics2Loop (const Vector3 &end_effector_p, const Matrix33 &end_effector_R, const double LAMBDA, const double avoid_gain=0.0, const double reference_gain=0.0, const hrp::dvector *reference_q=NULL, const double vel_gain=1.0, const hrp::Vector3 &localPos=hrp::Vector3::Zero(), const hrp::Matrix33 &localR=hrp::Matrix33::Identity())
bool	calcJacobianInverseNullspace (dmatrix &J, dmatrix &Jinv, dmatrix &Jnull)
void	getInterlockingJointPairIndices (std::vector< std::pair< size_t, size_t > > &pairs)
double	getManipulabilityLimit ()
void	getOptionalWeightVector (std::vector< double > &_opt_w)
double	getSRGain ()
	JointPathEx (BodyPtr &robot, Link base, Link end, double control_cycle, bool _use_inside_joint_weight_retrieval=true, const std::string &_debug_print_prefix="")
bool	setInterlockingJointPairIndices (const std::vector< std::pair< Link , Link > > &pairs, const std::string &print_str="")
bool	setInterlockingJointPairIndices (const std::vector< std::pair< size_t, size_t > > &pairs)
bool	setManipulabilityGain (double l)
bool	setManipulabilityLimit (double l)
void	setMaxIKError (double epos, double erot)
void	setMaxIKError (double e)
void	setMaxIKIteration (int iter)
void	setOptionalWeightVector (const std::vector< double > &_opt_w)
bool	setSRGain (double g)
Protected Attributes
std::vector< double >	avoid_weight_gain
size_t	debug_print_freq_count
std::string	debug_print_prefix
double	dt
std::vector< std::pair< size_t, size_t > >	interlocking_joint_pair_indices
std::vector< size_t >	joint_limit_debug_print_counts
std::vector< Link * >	joints
double	manipulability_gain
double	manipulability_limit
int	maxIKIteration
double	maxIKPosErrorSqr
double	maxIKRotErrorSqr
std::vector< double >	optional_weight_vector
double	sr_gain
bool	use_inside_joint_weight_retrieval

Detailed Description

Definition at line 16 of file JointPathEx.h.

Constructor & Destructor Documentation

JointPathEx::JointPathEx	(	BodyPtr &	robot,
		Link *	base,
		Link *	end,
		double	control_cycle,
		bool	_use_inside_joint_weight_retrieval = `true`,
		const std::string &	_debug_print_prefix = `""`
	)

Definition at line 89 of file JointPathEx.cpp.

Member Function Documentation

bool JointPathEx::calcInverseKinematics2	(	const Vector3 &	end_p,
		const Matrix33 &	end_R,
		const double	avoid_gain = `0.0`,
		const double	reference_gain = `0.0`,
		const dvector *	reference_q = `NULL`
	)

Definition at line 470 of file JointPathEx.cpp.

bool JointPathEx::calcInverseKinematics2Loop	(	const Vector3 &	dp,
		const Vector3 &	omega,
		const double	LAMBDA,
		const double	avoid_gain = `0.0`,
		const double	reference_gain = `0.0`,
		const dvector *	reference_q = `NULL`
	)

Definition at line 234 of file JointPathEx.cpp.

bool JointPathEx::calcInverseKinematics2Loop	(	const Vector3 &	end_effector_p,
		const Matrix33 &	end_effector_R,
		const double	LAMBDA,
		const double	avoid_gain = `0.0`,
		const double	reference_gain = `0.0`,
		const hrp::dvector *	reference_q = `NULL`,
		const double	vel_gain = `1.0`,
		const hrp::Vector3 &	localPos = `hrp::Vector3::Zero()`,
		const hrp::Matrix33 &	localR = `hrp::Matrix33::Identity()`
	)