#include <SimpleFullbodyInverseKinematicsSolver.h>

Classes
struct	IKparam

Public Member Functions
void	checkIKTracking (IKparam &param, const std::string &limb_name, const bool is_transition)

hrp::Vector3	getEndEffectorPos (const std::string &limb_name)

hrp::Matrix33	getEndEffectorRot (const std::string &limb_name)

void	getIKParam (std::vector< std::string > &ee_vec, _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)

void	initializeInterlockingJoints (std::vector< std::pair< hrp::Link , hrp::Link > > &interlocking_joints)

void	limbStretchAvoidanceControl (const std::vector< hrp::Vector3 > &target_p, const std::vector< std::string > &target_name)

void	printIKparam (std::vector< std::string > &ee_vec)

void	printParam () const

void	resetIKFailParam ()

void	revertRobotStateToCurrent ()

void	setIKParam (std::vector< std::string > &ee_vec, const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)

void	setReferenceJointAngles ()

	SimpleFullbodyInverseKinematicsSolver (hrp::BodyPtr &_robot, const std::string &_print_str, const double _dt)

void	solveFullbodyIK (const hrp::Vector3 &_dif_cog, const bool is_transition)

bool	solveLimbIK (IKparam &param, const std::string &limb_name, const double ratio_for_vel, const bool is_transition)

void	storeCurrentParameters ()

double	vlimit (const double value, const double llimit_value, const double ulimit_value)

	~SimpleFullbodyInverseKinematicsSolver ()

Public Attributes
hrp::Vector3	current_root_p

hrp::Matrix33	current_root_R

double	d_root_height

std::map< std::string, IKparam >	ikp

double	limb_stretch_avoidance_time_const

double	limb_stretch_avoidance_vlimit [2]

double	m_dt

double	move_base_gain

std::vector< int >	overwrite_ref_ja_index_vec

double	pos_ik_thre

hrp::dvector	qrefv

double	ratio_for_vel

double	rot_ik_thre

hrp::Vector3	target_root_p

hrp::Matrix33	target_root_R

bool	use_limb_stretch_avoidance

Private Attributes
bool	has_ik_failed

int	ik_error_debug_print_freq

hrp::BodyPtr	m_robot

std::string	print_str

hrp::dvector	qorg

Detailed Description

Definition at line 12 of file SimpleFullbodyInverseKinematicsSolver.h.

Constructor & Destructor Documentation

◆ SimpleFullbodyInverseKinematicsSolver()

SimpleFullbodyInverseKinematicsSolver::SimpleFullbodyInverseKinematicsSolver	(	hrp::BodyPtr &	_robot,
		const std::string &	_print_str,
		const double	_dt
	)

inline

Definition at line 68 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ ~SimpleFullbodyInverseKinematicsSolver()

SimpleFullbodyInverseKinematicsSolver::~SimpleFullbodyInverseKinematicsSolver ( )

inline

Definition at line 84 of file SimpleFullbodyInverseKinematicsSolver.h.

Member Function Documentation

◆ checkIKTracking()

void SimpleFullbodyInverseKinematicsSolver::checkIKTracking	(	IKparam &	param,
		const std::string &	limb_name,
		const bool	is_transition
	)

inline

Definition at line 158 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ getEndEffectorPos()

hrp::Vector3 SimpleFullbodyInverseKinematicsSolver::getEndEffectorPos ( const std::string & limb_name )

inline

Definition at line 329 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ getEndEffectorRot()

hrp::Matrix33 SimpleFullbodyInverseKinematicsSolver::getEndEffectorRot ( const std::string & limb_name )

inline

Definition at line 332 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ getIKParam()

void SimpleFullbodyInverseKinematicsSolver::getIKParam	(	std::vector< std::string > &	ee_vec,
		_CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &	ik_limb_parameters
	)

inline

Definition at line 190 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ initializeInterlockingJoints()

void SimpleFullbodyInverseKinematicsSolver::initializeInterlockingJoints ( std::vector< std::pair< hrp::Link *, hrp::Link *> > & interlocking_joints )

inline

Definition at line 86 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ limbStretchAvoidanceControl()

void SimpleFullbodyInverseKinematicsSolver::limbStretchAvoidanceControl	(	const std::vector< hrp::Vector3 > &	target_p,
		const std::vector< std::string > &	target_name
	)

inline

Definition at line 254 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ printIKparam()

void SimpleFullbodyInverseKinematicsSolver::printIKparam ( std::vector< std::string > & ee_vec )

inline

Definition at line 293 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ printParam()

void SimpleFullbodyInverseKinematicsSolver::printParam ( ) const

inline

Definition at line 287 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ resetIKFailParam()

void SimpleFullbodyInverseKinematicsSolver::resetIKFailParam ( )

inline

Definition at line 183 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ revertRobotStateToCurrent()

void SimpleFullbodyInverseKinematicsSolver::revertRobotStateToCurrent ( )

inline

Definition at line 101 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ setIKParam()

void SimpleFullbodyInverseKinematicsSolver::setIKParam	(	std::vector< std::string > &	ee_vec,
		const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &	ik_limb_parameters
	)

inline

Definition at line 210 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ setReferenceJointAngles()

void SimpleFullbodyInverseKinematicsSolver::setReferenceJointAngles ( )

inline

Definition at line 115 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ solveFullbodyIK()

void SimpleFullbodyInverseKinematicsSolver::solveFullbodyIK	(	const hrp::Vector3 &	_dif_cog,
		const bool	is_transition
	)

inline

Definition at line 122 of file SimpleFullbodyInverseKinematicsSolver.h.

◆ solveLimbIK()

bool SimpleFullbodyInverseKinematicsSolver::solveLimbIK	(	IKparam &	param,
		const std::string &	limb_name,
		const double	ratio_for_vel,
		const bool	is_transition
	)