#include <trac_ik.hpp>

Public Member Functions
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero())

bool	getKDLChain (KDL::Chain &chain_)

bool	getKDLLimits (KDL::JntArray &lb_, KDL::JntArray &ub_)

bool	getSolutions (std::vector< KDL::JntArray > &solutions_)

bool	getSolutions (std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_)

bool	setKDLLimits (KDL::JntArray &lb_, KDL::JntArray &ub_)

void	SetSolveType (SolveType _type)

	TRAC_IK (const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)

	TRAC_IK (const std::string &base_link, const std::string &tip_link, const std::string &URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)

	~TRAC_IK ()

Static Public Member Functions
static double	JointErr (const KDL::JntArray &arr1, const KDL::JntArray &arr2)

Private Member Functions
void	initialize ()

double	manipPenalty (const KDL::JntArray &)

double	ManipValue1 (const KDL::JntArray &)

double	ManipValue2 (const KDL::JntArray &)

bool	myEqual (const KDL::JntArray &a, const KDL::JntArray &b)

void	normalize_limits (const KDL::JntArray &seed, KDL::JntArray &solution)

void	normalize_seed (const KDL::JntArray &seed, KDL::JntArray &solution)

bool	runKDL (const KDL::JntArray &q_init, const KDL::Frame &p_in)

bool	runNLOPT (const KDL::JntArray &q_init, const KDL::Frame &p_in)

template<typename T1 , typename T2 >
bool	runSolver (T1 &solver, T2 &other_solver, const KDL::JntArray &q_init, const KDL::Frame &p_in)

bool	unique_solution (const KDL::JntArray &sol)

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

Private Attributes
KDL::Twist	bounds

KDL::Chain	chain

double	eps

std::vector< std::pair< double, uint > >	errors

std::unique_ptr< KDL::ChainIkSolverPos_TL >	iksolver

bool	initialized

std::unique_ptr< KDL::ChainJntToJacSolver >	jacsolver

KDL::JntArray	lb

double	maxtime

std::mutex	mtx_

std::unique_ptr< NLOPT_IK::NLOPT_IK >	nl_solver

std::vector< KDL::JntArray >	solutions

SolveType	solvetype

boost::posix_time::ptime	start_time

std::thread	task1

std::thread	task2

std::vector< KDL::BasicJointType >	types

KDL::JntArray	ub

Detailed Description

Definition at line 47 of file trac_ik.hpp.

Constructor & Destructor Documentation

TRAC_IK::TRAC_IK::TRAC_IK	(	const KDL::Chain &	_chain,
		const KDL::JntArray &	_q_min,
		const KDL::JntArray &	_q_max,
		double	_maxtime = `0.005`,
		double	_eps = `1e-5`,
		SolveType	_type = `Speed`
	)

Definition at line 133 of file trac_ik.cpp.

TRAC_IK::TRAC_IK::TRAC_IK	(	const std::string &	base_link,
		const std::string &	tip_link,
		const std::string &	URDF_param = `"/robot_description"`,
		double	_maxtime = `0.005`,
		double	_eps = `1e-5`,
		SolveType	_type = `Speed`
	)

Definition at line 43 of file trac_ik.cpp.

TRAC_IK::TRAC_IK::~TRAC_IK ( )

Definition at line 464 of file trac_ik.cpp.

Member Function Documentation

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

Definition at line 415 of file trac_ik.cpp.

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

inlinestaticprivate

Definition at line 145 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getKDLChain ( KDL::Chain & chain_ )

inline

Definition at line 56 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getKDLLimits	(	KDL::JntArray &	lb_,
		KDL::JntArray &	ub_
	)

inline

Definition at line 62 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getSolutions ( std::vector< KDL::JntArray > & solutions_ )

inline

Definition at line 70 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::getSolutions	(	std::vector< KDL::JntArray > &	solutions_,
		std::vector< std::pair< double, uint > > &	errors_
	)

inline

Definition at line 76 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::initialize ( )

private

Definition at line 145 of file trac_ik.cpp.

static double TRAC_IK::TRAC_IK::JointErr	(	const KDL::JntArray &	arr1,
		const KDL::JntArray &	arr2
	)

inlinestatic

Definition at line 91 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::manipPenalty ( const KDL::JntArray & arr )

private

Definition at line 373 of file trac_ik.cpp.

double TRAC_IK::TRAC_IK::ManipValue1 ( const KDL::JntArray & arr )

private

Definition at line 387 of file trac_ik.cpp.

double TRAC_IK::TRAC_IK::ManipValue2 ( const KDL::JntArray & arr )

private

Definition at line 402 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::myEqual	(	const KDL::JntArray &	a,
		const KDL::JntArray &	b
	)

inlineprivate

Definition at line 160 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::normalize_limits	(	const KDL::JntArray &	seed,
		KDL::JntArray &	solution
	)

private

Definition at line 337 of file trac_ik.cpp.

void TRAC_IK::TRAC_IK::normalize_seed	(	const KDL::JntArray &	seed,
		KDL::JntArray &	solution
	)

private

Definition at line 307 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::runKDL	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)

inlineprivate

Definition at line 169 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::runNLOPT	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)

inlineprivate

Definition at line 174 of file trac_ik.hpp.

template<typename T1 , typename T2 >

bool TRAC_IK::TRAC_IK::runSolver	(	T1 &	solver,
		T2 &	other_solver,
		const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in
	)

private

Definition at line 227 of file trac_ik.cpp.

bool TRAC_IK::TRAC_IK::setKDLLimits	(	KDL::JntArray &	lb_,
		KDL::JntArray &	ub_
	)

inline

Definition at line 82 of file trac_ik.hpp.

void TRAC_IK::TRAC_IK::SetSolveType ( SolveType _type )

inline

Definition at line 104 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::unique_solution ( const KDL::JntArray & sol )

private

Definition at line 175 of file trac_ik.cpp.

Member Data Documentation

KDL::Twist TRAC_IK::TRAC_IK::bounds

private

Definition at line 141 of file trac_ik.hpp.

KDL::Chain TRAC_IK::TRAC_IK::chain

private

Definition at line 111 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::eps

private

Definition at line 114 of file trac_ik.hpp.

std::vector<std::pair<double, uint> > TRAC_IK::TRAC_IK::errors

private

Definition at line 138 of file trac_ik.hpp.

std::unique_ptr<KDL::ChainIkSolverPos_TL> TRAC_IK::TRAC_IK::iksolver

private

Definition at line 119 of file trac_ik.hpp.

bool TRAC_IK::TRAC_IK::initialized

private

Definition at line 110 of file trac_ik.hpp.

std::unique_ptr<KDL::ChainJntToJacSolver> TRAC_IK::TRAC_IK::jacsolver

private

Definition at line 113 of file trac_ik.hpp.

KDL::JntArray TRAC_IK::TRAC_IK::lb

private

Definition at line 112 of file trac_ik.hpp.

double TRAC_IK::TRAC_IK::maxtime

private

Definition at line 115 of file trac_ik.hpp.

std::mutex TRAC_IK::TRAC_IK::mtx_

private

Definition at line 136 of file trac_ik.hpp.

std::unique_ptr<NLOPT_IK::NLOPT_IK> TRAC_IK::TRAC_IK::nl_solver

private

Definition at line 118 of file trac_ik.hpp.

std::vector<KDL::JntArray> TRAC_IK::TRAC_IK::solutions

private

Definition at line 137 of file trac_ik.hpp.

SolveType TRAC_IK::TRAC_IK::solvetype

private

Definition at line 116 of file trac_ik.hpp.

boost::posix_time::ptime TRAC_IK::TRAC_IK::start_time

private

Definition at line 121 of file trac_ik.hpp.

std::thread TRAC_IK::TRAC_IK::task1

private

Definition at line 140 of file trac_ik.hpp.

std::thread TRAC_IK::TRAC_IK::task2

private

Definition at line 140 of file trac_ik.hpp.

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

private

Definition at line 134 of file trac_ik.hpp.

KDL::JntArray TRAC_IK::TRAC_IK::ub

private

Definition at line 112 of file trac_ik.hpp.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation