#include <treeiksolverpos_online.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_Online:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_in, const Frames &p_in, JntArray &q_out)
	TreeIkSolverPos_Online (const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
	~TreeIkSolverPos_Online ()
Private Member Functions
void	enforceCartVelLimits ()
void	enforceJointVelLimits ()
Private Attributes
Twists	delta_twists_
TreeFkSolverPos &	fksolver_
Frames	frames_
TreeIkSolverVel &	iksolver_
JntArray	q_dot_
JntArray	q_dot_max_
JntArray	q_max_
JntArray	q_min_
Twist	twist_
double	x_dot_rot_max_
double	x_dot_trans_max_

Detailed Description

Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. This class has been derived from the TreeIkSolverPos_NR_JL class, but was modified for online solving for use in realtime systems. Thus, the calculation is only done once, meaning that no iteration is done, because this solver is intended to run at a high frequency. It enforces velocity limits in task as well as in joint space. It also takes joint limits into account.

Definition at line 44 of file treeiksolverpos_online.hpp.

Constructor & Destructor Documentation

KDL::TreeIkSolverPos_Online::TreeIkSolverPos_Online	(	const double &	nr_of_jnts,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		const JntArray &	q_dot_max,
		const double	x_dot_trans_max,
		const double	x_dot_rot_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver
	)

Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints you are interested in, the maximum and minimum values you want to enforce and a forward position kinematics solver as well as an inverse velocity kinematics solver for the calculations

Parameters:

nr_of_jnts	number of joints of the tree to calculate the joint positions for
endpoints	the list of endpoints you are interested in
q_min	the minimum joint positions
q_max	the maximum joint positions
q_dot_max	the maximum joint velocities
x_dot_trans_max	the maximum translational velocity of your endpoints
x_dot_rot_max	the maximum rotational velocity of your endpoints
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver

Returns:

Definition at line 29 of file treeiksolverpos_online.cpp.

KDL::TreeIkSolverPos_Online::~TreeIkSolverPos_Online ( )

Definition at line 59 of file treeiksolverpos_online.cpp.

Member Function Documentation

double KDL::TreeIkSolverPos_Online::CartToJnt	(	const JntArray &	q_init,
		const Frames &	p_in,
		JntArray &	q_out
	)		`[virtual]`

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters:

q_init	initial guess of the joint coordinates
p_in	input cartesian coordinates
q_out	output joint coordinates

Returns:: if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target

Implements KDL::TreeIkSolverPos.

Definition at line 63 of file treeiksolverpos_online.cpp.

void KDL::TreeIkSolverPos_Online::enforceCartVelLimits ( ) [private]

Scales translational and rotational velocity vectors of the class member KDL::Twist twist_, if at least one of both exceeds the maximum value/length. Scaling is done propotional to the biggest overshoot among both velocities.

Definition at line 153 of file treeiksolverpos_online.cpp.

void KDL::TreeIkSolverPos_Online::enforceJointVelLimits ( ) [private]

Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum value. Scaling is done propotional to the biggest overshoot among all joint velocities.

Definition at line 115 of file treeiksolverpos_online.cpp.