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

#include <weighted_least_norm_solver.h>

Inheritance diagram for WeightedLeastNormSolver:

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

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

virtual	~WeightedLeastNormSolver ()

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 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 weighted_least_norm_solver.h.

Constructor & Destructor Documentation

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

inline

Definition at line 28 of file weighted_least_norm_solver.h.

virtual WeightedLeastNormSolver::~WeightedLeastNormSolver ( )

inlinevirtual

Definition at line 34 of file weighted_least_norm_solver.h.

Member Function Documentation

Eigen::MatrixXd WeightedLeastNormSolver::calculateWeighting ( 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.

Reimplemented in WLN_JointLimitAvoidanceSolver.

Definition at line 45 of file weighted_least_norm_solver.cpp.

Eigen::MatrixXd WeightedLeastNormSolver::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 of the solve method using a weighted least norm. This is done by calculation of a weighting which is dependent on inherited classes for the Jacobian. Uses the base implementation of calculatePinvJacobianBySVD to calculate the pseudo-inverse (weighted) Jacobian.

Implements ConstraintSolver<>.

Definition at line 25 of file weighted_least_norm_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