Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm. More...

#include <unified_joint_limit_singularity_solver.h>

Inheritance diagram for UnifiedJointLimitSingularitySolver:

Public Member Functions
virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)

	UnifiedJointLimitSingularitySolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual	~UnifiedJointLimitSingularitySolver ()

Public Member Functions inherited from ConstraintSolver<>
void	clearConstraints ()

	ConstraintSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

void	setConstraints (std::set< ConstraintBase_t > &constraints)

void	setDamping (boost::shared_ptr< DampingBase > &damping)

virtual void	setJacobianData (const Matrix6Xd_t &jacobian_data)

virtual	~ConstraintSolver ()

Private Member Functions
virtual Eigen::MatrixXd	calculateWeighting (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) const

Additional Inherited Members
Protected Attributes inherited from ConstraintSolver<>
std::set< ConstraintBase_t >	constraints_
	set inserts sorted (default less operator); if element has already been added it returns an iterator on it. More...

boost::shared_ptr< DampingBase >	damping_
	References the current Jacobian (matrix data only). More...

Matrix6Xd_t	jacobian_data_
	References the limiter parameters (up-to-date according to KinematicExtension). More...

const LimiterParams &	limiter_params_
	References the inv. diff. kin. solver parameters. More...

const TwistControllerParams &	params_
	Set of constraints. More...

PInvBySVD	pinv_calc_
	The currently set damping method. More...

TaskStackController_t &	task_stack_controller_
	An instance that helps solving the inverse of the Jacobian. More...

Detailed Description

Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm.

Definition at line 25 of file unified_joint_limit_singularity_solver.h.

Constructor & Destructor Documentation

UnifiedJointLimitSingularitySolver::UnifiedJointLimitSingularitySolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)

inline

Definition at line 28 of file unified_joint_limit_singularity_solver.h.

virtual UnifiedJointLimitSingularitySolver::~UnifiedJointLimitSingularitySolver ( )

inlinevirtual

Definition at line 34 of file unified_joint_limit_singularity_solver.h.

Member Function Documentation

Eigen::MatrixXd UnifiedJointLimitSingularitySolver::calculateWeighting	(	const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states
	)		const

privatevirtual

Virtual helper method that calculates a weighting for the Jacobian to adapt joint velocity calculation for given constraints.

Parameters

q	The current joint positions.
q_dot	The current joint velocities.

Returns: Diagonal weighting matrix that adapts the Jacobian.

This function returns the identity as weighting matrix for base functionality.

Definition at line 70 of file unified_joint_limit_singularity_solver.cpp.

Eigen::MatrixXd UnifiedJointLimitSingularitySolver::solve	(	const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states
	)

virtual

Specific implementation of solve-method to solve IK problem with joint limit avoidance. See base class ConstraintSolver for more details on params and returns.

Specific implementation simultaneous singularity and joint limit avoidance solver. This work is based in the general weighted least norm and unified weighted least norm methods.

Implements ConstraintSolver<>.

Definition at line 24 of file unified_joint_limit_singularity_solver.cpp.

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation