Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability.
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#include <kinematics_metrics.h>
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| bool | getManipulability (const robot_state::RobotState &state, const std::string &group_name, double &condition_number, bool translation=false) const |
| | Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J. More...
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| bool | getManipulability (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, double &condition_number, bool translation=false) const |
| | Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J. More...
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| bool | getManipulabilityEllipsoid (const robot_state::RobotState &state, const std::string &group_name, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const |
| | Get the (translation) manipulability ellipsoid for a given group at a given joint configuration. More...
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| bool | getManipulabilityEllipsoid (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const |
| | Get the (translation) manipulability ellipsoid for a given group at a given joint configuration. More...
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| bool | getManipulabilityIndex (const robot_state::RobotState &state, const std::string &group_name, double &manipulability_index, bool translation=false) const |
| | Get the manipulability for a given group at a given joint configuration. More...
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| bool | getManipulabilityIndex (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group, double &manipulability_index, bool translation=false) const |
| | Get the manipulability for a given group at a given joint configuration. More...
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| const double & | getPenaltyMultiplier () const |
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| | KinematicsMetrics (const robot_model::RobotModelConstPtr &robot_model) |
| | Construct a KinematicsMetricss from a RobotModel. More...
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| void | setPenaltyMultiplier (double multiplier) |
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| double | getJointLimitsPenalty (const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group) const |
| | Defines a multiplier for the manipulabilty = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit * distance_to_higher_limit/(joint_range*joint_range))) where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with finite bounds are considered. Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures. See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis, Ohio State University, 1986, for more details. More...
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Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability.
Definition at line 52 of file kinematics_metrics.h.
| kinematics_metrics::KinematicsMetrics::KinematicsMetrics |
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const robot_model::RobotModelConstPtr & |
robot_model | ) |
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inline |
Defines a multiplier for the manipulabilty = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distance_to_lower_limit * distance_to_higher_limit/(joint_range*joint_range))) where n is the number of joints in the group. Floating joints are ignored in this computation. Planar joints with finite bounds are considered. Set penalty_multiplier_ to 0 if you don't want this multiplier to have any effect on the manipulability measures. See "Workspace Geometric Characterization and Manipulability of Industrial Robots", Ming-June, Tsia, PhD Thesis, Ohio State University, 1986, for more details.
- Returns
- multiplier that is multiplied with every manipulability measure computed here
Definition at line 44 of file kinematics_metrics.cpp.
| bool kinematics_metrics::KinematicsMetrics::getManipulability |
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const robot_state::RobotState & |
state, |
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const std::string & |
group_name, |
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double & |
condition_number, |
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bool |
translation = false |
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Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
- Parameters
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| state | Complete kinematic state for the robot |
| group_name | The group name (e.g. "arm") |
| condition_number | Condition number for JJ^T |
- Returns
- False if the group was not found
Definition at line 195 of file kinematics_metrics.cpp.
Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
- Parameters
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| state | Complete kinematic state for the robot |
| joint_model_group | A pointer to the desired joint model group |
| condition_number | Condition number for JJ^T |
- Returns
- False if the group was not found
Definition at line 205 of file kinematics_metrics.cpp.
| bool kinematics_metrics::KinematicsMetrics::getManipulabilityEllipsoid |
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const robot_state::RobotState & |
state, |
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const std::string & |
group_name, |
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Eigen::MatrixXcd & |
eigen_values, |
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Eigen::MatrixXcd & |
eigen_vectors |
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Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
- Parameters
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| state | Complete kinematic state for the robot |
| group_name | The group name (e.g. "arm") |
| eigen_values | The eigen values for the translation part of JJ^T |
| eigen_vectors | The eigen vectors for the translation part of JJ^T |
- Returns
- False if the group was not found
Definition at line 165 of file kinematics_metrics.cpp.
Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
- Parameters
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| state | Complete kinematic state for the robot |
| joint_model_group | A pointer to the desired joint model group |
| eigen_values | The eigen values for the translation part of JJ^T |
| eigen_vectors | The eigen vectors for the translation part of JJ^T |
- Returns
- False if the group was not found
Definition at line 176 of file kinematics_metrics.cpp.
| bool kinematics_metrics::KinematicsMetrics::getManipulabilityIndex |
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const robot_state::RobotState & |
state, |
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const std::string & |
group_name, |
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double & |
manipulability_index, |
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bool |
translation = false |
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Get the manipulability for a given group at a given joint configuration.
- Parameters
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| state | Complete kinematic state for the robot |
| group_name | The group name (e.g. "arm") |
| manipulability_index | The computed manipulability = sqrt(det(JJ^T)) |
- Returns
- False if the group was not found
Definition at line 94 of file kinematics_metrics.cpp.
Get the manipulability for a given group at a given joint configuration.
- Parameters
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| state | Complete kinematic state for the robot |
| joint_model_group | A pointer to the desired joint model group |
| manipulability_index | The computed manipulability = sqrt(det(JJ^T)) |
- Returns
- False if the group was not found
Definition at line 104 of file kinematics_metrics.cpp.
| const double& kinematics_metrics::KinematicsMetrics::getPenaltyMultiplier |
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const |
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| void kinematics_metrics::KinematicsMetrics::setPenaltyMultiplier |
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double |
multiplier | ) |
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| double kinematics_metrics::KinematicsMetrics::penalty_multiplier_ |
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| robot_model::RobotModelConstPtr kinematics_metrics::KinematicsMetrics::robot_model_ |
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protected |
The documentation for this class was generated from the following files: