constrained_ik::constraints::GoalOrientation Class Reference

Constraint to specify Cartesian goal orientation (XYZ rotation) More...

#include <goal_orientation.h>

Inheritance diagram for constrained_ik::constraints::GoalOrientation:

List of all members.

Classes
struct	GoalOrientationData
	This structure stores constraint data. More...
Public Member Functions
virtual Eigen::VectorXd	calcError (const GoalOrientationData &cdata) const
	Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of base coordinate system Each element is multiplied by corresponding element in weight_.
virtual Eigen::MatrixXd	calcJacobian (const GoalOrientationData &cdata) const
	Jacobian is the last three rows of standard jacobian(in base frame). Equivalent to each axis of rotation expressed in base frame coordinates. Each row is scaled by the corresponding element of weight_.
virtual bool	checkStatus (const GoalOrientationData &cdata) const
	Checks termination criteria Termination criteria for this constraint is that angle error is below threshold.
constrained_ik::ConstraintResults	evalConstraint (const SolverState &state) const override
	see base class for documentation
virtual double	getTolerance () const
	Getter for rot_err_tol_.
virtual Eigen::Vector3d	getWeight () const
	Getter for weight_.
void	loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override
	see base class for documentation
virtual void	setTolerance (double tol)
	Setter for tolerance (termination criteria)
virtual void	setWeight (const Eigen::Vector3d &weight)
	Setter for weight_.
Static Public Member Functions
static double	calcAngle (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)
	Shortest angle between current orientation and goal orientation.
static Eigen::Vector3d	calcAngleError (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)
	Calculate 3-element rotation vector necessary to rotate pose p1 into pose p2.
Protected Attributes
double	rot_err_tol_
	termination criteria
Eigen::Vector3d	weight_
	weights used to scale the jocabian and error

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Detailed Description

Constraint to specify Cartesian goal orientation (XYZ rotation)

Examples:

All examples are located here Goal Orientation Constraint Examples

Definition at line 43 of file goal_orientation.h.

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Member Function Documentation

double constrained_ik::constraints::GoalOrientation::calcAngle	(	const Eigen::Affine3d &	p1,
		const Eigen::Affine3d &	p2
	)		[static]

Shortest angle between current orientation and goal orientation.

Todo:

This should be moved to the utils class

Parameters:

p1	Current pose
p2	Goal pose

Returns:

Shortest angle between p1 and p2

Definition at line 58 of file goal_orientation.cpp.

Eigen::Vector3d constrained_ik::constraints::GoalOrientation::calcAngleError	(	const Eigen::Affine3d &	p1,
		const Eigen::Affine3d &	p2
	)		[static]

Calculate 3-element rotation vector necessary to rotate pose p1 into pose p2.

Todo:

This should be moved to the utils class

Parameters:

p1	Current pose
p2	Goal pose

Returns:

x,y,z rotation from p1 to p2

Definition at line 64 of file goal_orientation.cpp.

Eigen::VectorXd constrained_ik::constraints::GoalOrientation::calcError

(

const GoalOrientationData &

cdata

)

const [virtual]

Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of base coordinate system Each element is multiplied by corresponding element in weight_.

Parameters:

cdata

The constraint specific data.

Returns:

Rotation from current to goal scaled by weight_

Reimplemented in constrained_ik::constraints::GoalToolOrientation.

Definition at line 71 of file goal_orientation.cpp.

Eigen::MatrixXd constrained_ik::constraints::GoalOrientation::calcJacobian

(

const GoalOrientationData &

cdata

)

const [virtual]

Jacobian is the last three rows of standard jacobian(in base frame). Equivalent to each axis of rotation expressed in base frame coordinates. Each row is scaled by the corresponding element of weight_.

Parameters:

cdata

The constraint specific data.

Returns:

Last 3 rows of standard jacobian scaled by weight_

Reimplemented in constrained_ik::constraints::GoalToolOrientation.

Definition at line 80 of file goal_orientation.cpp.

bool constrained_ik::constraints::GoalOrientation::checkStatus

(

const GoalOrientationData &

cdata

)

const [virtual]

Checks termination criteria Termination criteria for this constraint is that angle error is below threshold.

Parameters:

cdata

The constraint specific data.

Returns:

True if angle error is below threshold

Definition at line 95 of file goal_orientation.cpp.

virtual double constrained_ik::constraints::GoalOrientation::getTolerance

(

)

const [inline, virtual]

Getter for rot_err_tol_.

Returns:

rot_err_tol_

Definition at line 124 of file goal_orientation.h.

virtual Eigen::Vector3d constrained_ik::constraints::GoalOrientation::getWeight

(

)

const [inline, virtual]

Getter for weight_.

Returns:

weight_

Definition at line 112 of file goal_orientation.h.

virtual void constrained_ik::constraints::GoalOrientation::setTolerance

(

double

tol

)

[inline, virtual]

Setter for tolerance (termination criteria)

Parameters:

tol	Value to assign to tol_

Definition at line 130 of file goal_orientation.h.

virtual void constrained_ik::constraints::GoalOrientation::setWeight

(

const Eigen::Vector3d &

weight

)

[inline, virtual]

Setter for weight_.

Parameters:

weight

Value to assign to weight_

Definition at line 118 of file goal_orientation.h.

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

• goal_orientation.h
• goal_orientation.cpp