kinematics_metrics.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
00038 #define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <moveit/planning_scene/planning_scene.h>
00042 
00044 namespace kinematics_metrics
00045 {
00046 MOVEIT_CLASS_FORWARD(KinematicsMetrics);
00047 
00052 class KinematicsMetrics
00053 {
00054 public:
00056   KinematicsMetrics(const robot_model::RobotModelConstPtr& robot_model)
00057     : robot_model_(robot_model), penalty_multiplier_(0.0)
00058   {
00059   }
00060 
00068   bool getManipulabilityIndex(const robot_state::RobotState& state, const std::string& group_name,
00069                               double& manipulability_index, bool translation = false) const;
00070 
00078   bool getManipulabilityIndex(const robot_state::RobotState& state,
00079                               const robot_model::JointModelGroup* joint_model_group, double& manipulability_index,
00080                               bool translation = false) const;
00081 
00090   bool getManipulabilityEllipsoid(const robot_state::RobotState& state, const std::string& group_name,
00091                                   Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
00092 
00101   bool getManipulabilityEllipsoid(const robot_state::RobotState& state,
00102                                   const robot_model::JointModelGroup* joint_model_group, Eigen::MatrixXcd& eigen_values,
00103                                   Eigen::MatrixXcd& eigen_vectors) const;
00104 
00114   bool getManipulability(const robot_state::RobotState& state, const std::string& group_name, double& condition_number,
00115                          bool translation = false) const;
00116 
00126   bool getManipulability(const robot_state::RobotState& state, const robot_model::JointModelGroup* joint_model_group,
00127                          double& condition_number, bool translation = false) const;
00128 
00129   void setPenaltyMultiplier(double multiplier)
00130   {
00131     penalty_multiplier_ = fabs(multiplier);
00132   }
00133 
00134   const double& getPenaltyMultiplier() const
00135   {
00136     return penalty_multiplier_;
00137   }
00138 
00139 protected:
00140   robot_model::RobotModelConstPtr robot_model_;
00141 
00142 private:
00155   double getJointLimitsPenalty(const robot_state::RobotState& state,
00156                                const robot_model::JointModelGroup* joint_model_group) const;
00157 
00158   double penalty_multiplier_;
00159 };
00160 }
00161 
00162 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Apr 20 2018 03:31:11