NLOPT_IK::NLOPT_IK Class Reference

#include <nlopt_ik.hpp>

Public Member Functions
void	cartDQError (const std::vector< double > &x, double error[])
void	cartL2NormError (const std::vector< double > &x, double error[])
void	cartSumSquaredError (const std::vector< double > &x, double error[])
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray &q_desired=KDL::JntArray())
double	minJoints (const std::vector< double > &x, std::vector< double > &grad)
	NLOPT_IK (const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq)
void	setMaxtime (double t)
	~NLOPT_IK ()

Private Member Functions
void	abort ()
void	reset ()

Static Private Member Functions
static double	fRand (double min, double max)

Private Attributes
bool	aborted
std::vector< double >	best_x
KDL::Twist	bounds
const KDL::Chain	chain
KDL::Frame	currentPose
std::vector< double >	des
double	eps
KDL::ChainFkSolverPos_recursive	fksolver
int	iter_counter
std::vector< double >	lb
double	maxtime
nlopt::opt	opt
int	progress
KDL::Frame	targetPose
OptType	TYPE
std::vector< KDL::BasicJointType >	types
std::vector< double >	ub
KDL::Frame	x_out
KDL::Frame	x_target
KDL::Frame	y_out
KDL::Frame	y_target
KDL::Frame	z_target
KDL::Frame	z_up

Friends
class	TRAC_IK::TRAC_IK

Detailed Description

Definition at line 44 of file nlopt_ik.hpp.

Constructor & Destructor Documentation

NLOPT_IK::NLOPT_IK::NLOPT_IK	(	const KDL::Chain &	chain,
		const KDL::JntArray &	q_min,
		const KDL::JntArray &	q_max,
		double	maxtime = 0.005,
		double	eps = 1e-3,
		OptType	type = SumSq
	)

Definition at line 196 of file nlopt_ik.cpp.

NLOPT_IK::NLOPT_IK::~NLOPT_IK ( )

inline

Definition at line 50 of file nlopt_ik.hpp.

Member Function Documentation

void NLOPT_IK::NLOPT_IK::abort ( )

inlineprivate

Definition at line 66 of file nlopt_ik.hpp.

void NLOPT_IK::NLOPT_IK::cartDQError	(	const std::vector< double > &	x,
		double	error[]
	)

Definition at line 386 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::cartL2NormError	(	const std::vector< double > &	x,
		double	error[]
	)

Definition at line 333 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::cartSumSquaredError	(	const std::vector< double > &	x,
		double	error[]
	)

Definition at line 281 of file nlopt_ik.cpp.

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

Definition at line 445 of file nlopt_ik.cpp.

static double NLOPT_IK::NLOPT_IK::fRand ( double  min, double  max  )

inlinestaticprivate

Definition at line 111 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::minJoints	(	const std::vector< double > &	x,
		std::vector< double > &	grad
	)

Definition at line 260 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::reset ( )

inlineprivate

Definition at line 71 of file nlopt_ik.hpp.

void NLOPT_IK::NLOPT_IK::setMaxtime ( double  t )

inline

Definition at line 59 of file nlopt_ik.hpp.

Friends And Related Function Documentation

friend class TRAC_IK::TRAC_IK

friend

Definition at line 46 of file nlopt_ik.hpp.

Member Data Documentation

bool NLOPT_IK::NLOPT_IK::aborted

private

Definition at line 107 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::best_x

private

Definition at line 105 of file nlopt_ik.hpp.

KDL::Twist NLOPT_IK::NLOPT_IK::bounds

private

Definition at line 109 of file nlopt_ik.hpp.

const KDL::Chain NLOPT_IK::NLOPT_IK::chain

private

Definition at line 80 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::currentPose

private

Definition at line 103 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::des

private

Definition at line 81 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::eps

private

Definition at line 87 of file nlopt_ik.hpp.

KDL::ChainFkSolverPos_recursive NLOPT_IK::NLOPT_IK::fksolver

private

Definition at line 84 of file nlopt_ik.hpp.

int NLOPT_IK::NLOPT_IK::iter_counter

private

Definition at line 88 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::lb

private

Definition at line 77 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::maxtime

private

Definition at line 86 of file nlopt_ik.hpp.

nlopt::opt NLOPT_IK::NLOPT_IK::opt

private

Definition at line 101 of file nlopt_ik.hpp.

int NLOPT_IK::NLOPT_IK::progress

private

Definition at line 106 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::targetPose

private

Definition at line 91 of file nlopt_ik.hpp.

OptType NLOPT_IK::NLOPT_IK::TYPE

private

Definition at line 89 of file nlopt_ik.hpp.

std::vector<KDL::BasicJointType> NLOPT_IK::NLOPT_IK::types

private

Definition at line 99 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::ub

private

Definition at line 78 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::x_out

private

Definition at line 93 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::x_target

private

Definition at line 96 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::y_out

private

Definition at line 94 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::y_target

private

Definition at line 97 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::z_target

private

Definition at line 95 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::z_up

private

Definition at line 92 of file nlopt_ik.hpp.

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

• nlopt_ik.hpp
• nlopt_ik.cpp