#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)

Public Member Functions inherited from hrp::JointPath
Link *	baseLink () const

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const

bool	calcInverseKinematics (const Vector3 &base_p, const Matrix33 &base_R, const Vector3 &end_p, const Matrix33 &end_R)

virtual bool	calcInverseKinematics (const Vector3 &end_p, const Matrix33 &end_R)

void	calcJacobian (dmatrix &out_J, const Vector3 &local_p=Vector3::Zero()) const

void	calcJacobianDot (dmatrix &out_dJ, const Vector3 &local_p=Vector3::Zero()) const

bool	empty () const

Link *	endLink () const

bool	find (Link base, Link end)

bool	find (Link *end)

virtual bool	hasAnalyticalIK ()

bool	isJointDownward (int index) const

dmatrix	Jacobian () const

Link *	joint (int index) const

	JointPath ()

	JointPath (Link base, Link end)

	JointPath (Link *end)

unsigned int	numJoints () const

virtual void	setBestEffortIKMode (bool on)

virtual	~JointPath ()

Public Member Functions inherited from hrp::InverseKinematics
virtual	~InverseKinematics ()

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

Protected Attributes inherited from hrp::JointPath
bool	isBestEffortIKMode

double	maxIKErrorSqr

Additional Inherited Members
Protected Member Functions inherited from hrp::JointPath
virtual void	onJointPathUpdated ()

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 92 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 473 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 237 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()`
	)

Definition at line 457 of file JointPathEx.cpp.

bool JointPathEx::calcJacobianInverseNullspace	(	dmatrix &	J,
		dmatrix &	Jinv,
		dmatrix &	Jnull
	)

Definition at line 160 of file JointPathEx.cpp.

void JointPathEx::getInterlockingJointPairIndices ( std::vector< std::pair< size_t, size_t > > & pairs )

Definition at line 156 of file JointPathEx.cpp.

double hrp::JointPathEx::getManipulabilityLimit ( )

inline

Definition at line 28 of file JointPathEx.h.

void hrp::JointPathEx::getOptionalWeightVector ( std::vector< double > & _opt_w )

inline

Definition at line 43 of file JointPathEx.h.

double hrp::JointPathEx::getSRGain ( )

inline

Definition at line 26 of file JointPathEx.h.

bool JointPathEx::setInterlockingJointPairIndices	(	const std::vector< std::pair< Link , Link > > &	pairs,
		const std::string &	print_str = `""`
	)

Definition at line 121 of file JointPathEx.cpp.

bool JointPathEx::setInterlockingJointPairIndices ( const std::vector< std::pair< size_t, size_t > > & pairs )

Definition at line 151 of file JointPathEx.cpp.

bool hrp::JointPathEx::setManipulabilityGain ( double l )

inline

Definition at line 30 of file JointPathEx.h.

bool hrp::JointPathEx::setManipulabilityLimit ( double l )

inline

Definition at line 29 of file JointPathEx.h.

void JointPathEx::setMaxIKError	(	double	epos,
		double	erot
	)

Definition at line 107 of file JointPathEx.cpp.

void JointPathEx::setMaxIKError ( double e )

virtual

Reimplemented from hrp::JointPath.

Definition at line 112 of file JointPathEx.cpp.

void JointPathEx::setMaxIKIteration ( int iter )

Definition at line 117 of file JointPathEx.cpp.

void hrp::JointPathEx::setOptionalWeightVector ( const std::vector< double > & _opt_w )

inline

Definition at line 34 of file JointPathEx.h.

bool hrp::JointPathEx::setSRGain ( double g )

inline

Definition at line 27 of file JointPathEx.h.

Member Data Documentation

std::vector<double> hrp::JointPathEx::avoid_weight_gain

protected

Definition at line 53 of file JointPathEx.h.

size_t hrp::JointPathEx::debug_print_freq_count

protected

Definition at line 63 of file JointPathEx.h.

std::string hrp::JointPathEx::debug_print_prefix

protected

Definition at line 60 of file JointPathEx.h.

double hrp::JointPathEx::dt

protected

Definition at line 59 of file JointPathEx.h.

std::vector<std::pair<size_t, size_t> > hrp::JointPathEx::interlocking_joint_pair_indices

protected

Definition at line 58 of file JointPathEx.h.

std::vector<size_t> hrp::JointPathEx::joint_limit_debug_print_counts

protected

Definition at line 62 of file JointPathEx.h.

std::vector<Link*> hrp::JointPathEx::joints

protected

Definition at line 52 of file JointPathEx.h.

double hrp::JointPathEx::manipulability_gain

protected

Definition at line 59 of file JointPathEx.h.

double hrp::JointPathEx::manipulability_limit

protected

Definition at line 59 of file JointPathEx.h.

int hrp::JointPathEx::maxIKIteration

protected

Definition at line 51 of file JointPathEx.h.

double hrp::JointPathEx::maxIKPosErrorSqr

protected

Definition at line 48 of file JointPathEx.h.

double hrp::JointPathEx::maxIKRotErrorSqr

protected

Definition at line 48 of file JointPathEx.h.

std::vector<double> hrp::JointPathEx::optional_weight_vector

protected

Definition at line 53 of file JointPathEx.h.

double hrp::JointPathEx::sr_gain

protected

Definition at line 59 of file JointPathEx.h.

bool hrp::JointPathEx::use_inside_joint_weight_retrieval

protected

Definition at line 64 of file JointPathEx.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation