Public Member Functions | Private Member Functions | Private Attributes
KDL::ChainIkSolverVel_pinv_mimic Class Reference

#include <chainiksolver_vel_pinv_mimic.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_mimic:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
virtual int CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
virtual int CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
virtual int CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
virtual int CartToJntRedundant (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
virtual int CartToJntRedundant (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
 ChainIkSolverVel_pinv_mimic (const Chain &chain, int num_mimic_joints=0, int num_redundant_joints=0, bool position_ik=false, double eps=0.00001, int maxiter=150)
 ChainIkSolverVel_pinv_mimic (const Chain &chain, int num_mimic_joints=0, int num_redundant_joints=0, bool position_ik=false, double eps=0.00001, int maxiter=150)
void lockRedundantJoints ()
void lockRedundantJoints ()
bool setMimicJoints (const std::vector< kdl_kinematics_plugin::JointMimic > &_mimic_joints)
 Set a vector of indices that map each (and every) joint in the chain onto the corresponding joint in a reduced set of joints that do not include the mimic joints. This vector must be of size chain.getNrOfJoints(). E.g. if an arm has 7 joints: j0 to j6. Say j2 mimics (follows) j0. Then, mimic_joints should be: [0 1 0 3 4 5 6].
bool setMimicJoints (const std::vector< lma_kinematics_plugin::JointMimic > &_mimic_joints)
 Set a vector of indices that map each (and every) joint in the chain onto the corresponding joint in a reduced set of joints that do not include the mimic joints. This vector must be of size chain.getNrOfJoints(). E.g. if an arm has 7 joints: j0 to j6. Say j2 mimics (follows) j0. Then, mimic_joints should be: [0 1 0 3 4 5 6].
bool setRedundantJointsMapIndex (const std::vector< unsigned int > &redundant_joints_map_index)
 Set a mapping between a reduced set of joints (numbering either 6 or 3) and the full set of active (i.e excluding the mimic joints) DOFs in the robot. As an example, consider an arm with 7 joints: j0 to j6. If j2 represents the redundancy, then redundant_joints_map_index will be a 6 dimensional vector - [0 1 3 4 5 6], i.e. joint_value_full(redundant_joints_map_index[i]) = joint_value_reduced(i), for i=0,...5.
bool setRedundantJointsMapIndex (const std::vector< unsigned int > &redundant_joints_map_index)
 Set a mapping between a reduced set of joints (numbering either 6 or 3) and the full set of active (i.e excluding the mimic joints) DOFs in the robot. As an example, consider an arm with 7 joints: j0 to j6. If j2 represents the redundancy, then redundant_joints_map_index will be a 6 dimensional vector - [0 1 3 4 5 6], i.e. joint_value_full(redundant_joints_map_index[i]) = joint_value_reduced(i), for i=0,...5.
void unlockRedundantJoints ()
void unlockRedundantJoints ()
 ~ChainIkSolverVel_pinv_mimic ()
 ~ChainIkSolverVel_pinv_mimic ()

Private Member Functions

bool jacToJacLocked (const Jacobian &jac, Jacobian &jac_locked)
bool jacToJacLocked (const Jacobian &jac, Jacobian &jac_locked)
bool jacToJacReduced (const Jacobian &jac, Jacobian &jac_mimic)
bool jacToJacReduced (const Jacobian &jac, Jacobian &jac_mimic)

Private Attributes

const Chain chain
double eps
Jacobian jac
Jacobian jac_locked
Jacobian jac_reduced
ChainJntToJacSolver jnt2jac
std::vector< unsigned int > locked_joints_map_index
int maxiter
std::vector
< kdl_kinematics_plugin::JointMimic
mimic_joints_
std::vector
< lma_kinematics_plugin::JointMimic
mimic_joints_
int num_mimic_joints
unsigned int num_redundant_joints
bool position_ik
JntArray qdot_out_locked
JntArray qdot_out_reduced
JntArray qdot_out_reduced_locked
bool redundant_joints_locked
JntArray S
Eigen::VectorXd S_locked
Eigen::VectorXd S_translate
Eigen::VectorXd S_translate_locked
SVD_HH svd
JntArray tmp
Eigen::VectorXd tmp_locked
Eigen::VectorXd tmp_translate
Eigen::VectorXd tmp_translate_locked
std::vector< JntArrayU
Eigen::MatrixXd U_locked
Eigen::MatrixXd U_translate
Eigen::MatrixXd U_translate_locked
std::vector< JntArrayV
Eigen::MatrixXd V_locked
Eigen::MatrixXd V_translate
Eigen::MatrixXd V_translate_locked

Detailed Description

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. It uses a svd-calculation based on householders rotations.

Definition at line 47 of file chainiksolver_vel_pinv_mimic.hpp.


Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_mimic::ChainIkSolverVel_pinv_mimic ( const Chain chain,
int  num_mimic_joints = 0,
int  num_redundant_joints = 0,
bool  position_ik = false,
double  eps = 0.00001,
int  maxiter = 150 
) [explicit]

Constructor of the solver

Parameters:
chainthe chain to calculate the inverse velocity kinematics for
num_mimic_jointsThe number of joints that are setup to follow other joints
num_redundant_jointsThe number of redundant dofs
position_ikfalse if you want to solve for the full 6 dof end-effector pose, true if you want to solve only for the 3 dof end-effector position.
epsif a singular value is below this value, its inverse is set to zero, default: 0.00001
maxitermaximum iterations for the svd calculation, default: 150

Definition at line 31 of file kdl_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp.

KDL::ChainIkSolverVel_pinv_mimic::ChainIkSolverVel_pinv_mimic ( const Chain chain,
int  num_mimic_joints = 0,
int  num_redundant_joints = 0,
bool  position_ik = false,
double  eps = 0.00001,
int  maxiter = 150 
) [explicit]

Constructor of the solver

Parameters:
chainthe chain to calculate the inverse velocity kinematics for
num_mimic_jointsThe number of joints that are setup to follow other joints
num_redundant_jointsThe number of redundant dofs
position_ikfalse if you want to solve for the full 6 dof end-effector pose, true if you want to solve only for the 3 dof end-effector position.
epsif a singular value is below this value, its inverse is set to zero, default: 0.00001
maxitermaximum iterations for the svd calculation, default: 150

Member Function Documentation

int KDL::ChainIkSolverVel_pinv_mimic::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [virtual]
virtual int KDL::ChainIkSolverVel_pinv_mimic::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
) [inline, virtual]

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 79 of file chainiksolver_vel_pinv_mimic.hpp.

virtual int KDL::ChainIkSolverVel_pinv_mimic::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [virtual]

Implements KDL::ChainIkSolverVel.

virtual int KDL::ChainIkSolverVel_pinv_mimic::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
) [inline, virtual]

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 90 of file chainiksolver_vel_pinv_mimic.h.

int KDL::ChainIkSolverVel_pinv_mimic::CartToJntRedundant ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [virtual]
virtual int KDL::ChainIkSolverVel_pinv_mimic::CartToJntRedundant ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [virtual]
bool KDL::ChainIkSolverVel_pinv_mimic::jacToJacLocked ( const Jacobian jac,
Jacobian jac_locked 
) [private]
bool KDL::ChainIkSolverVel_pinv_mimic::jacToJacLocked ( const Jacobian jac,
Jacobian jac_locked 
) [private]
bool KDL::ChainIkSolverVel_pinv_mimic::jacToJacReduced ( const Jacobian jac,
Jacobian jac_mimic 
) [private]
bool KDL::ChainIkSolverVel_pinv_mimic::jacToJacReduced ( const Jacobian jac,
Jacobian jac_mimic 
) [private]

Definition at line 104 of file chainiksolver_vel_pinv_mimic.hpp.

Definition at line 115 of file chainiksolver_vel_pinv_mimic.h.

Set a vector of indices that map each (and every) joint in the chain onto the corresponding joint in a reduced set of joints that do not include the mimic joints. This vector must be of size chain.getNrOfJoints(). E.g. if an arm has 7 joints: j0 to j6. Say j2 mimics (follows) j0. Then, mimic_joints should be: [0 1 0 3 4 5 6].

Parameters:
mimic_jointsVector of size chain.getNrOfJoints() that maps every joint in the chain onto (a) itself if its not a mimic joint or (b) onto the active dof that it is mimicking

Definition at line 77 of file kdl_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp.

Set a vector of indices that map each (and every) joint in the chain onto the corresponding joint in a reduced set of joints that do not include the mimic joints. This vector must be of size chain.getNrOfJoints(). E.g. if an arm has 7 joints: j0 to j6. Say j2 mimics (follows) j0. Then, mimic_joints should be: [0 1 0 3 4 5 6].

Parameters:
mimic_jointsVector of size chain.getNrOfJoints() that maps every joint in the chain onto (a) itself if its not a mimic joint or (b) onto the active dof that it is mimicking

Definition at line 88 of file lma_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp.

bool KDL::ChainIkSolverVel_pinv_mimic::setRedundantJointsMapIndex ( const std::vector< unsigned int > &  redundant_joints_map_index)

Set a mapping between a reduced set of joints (numbering either 6 or 3) and the full set of active (i.e excluding the mimic joints) DOFs in the robot. As an example, consider an arm with 7 joints: j0 to j6. If j2 represents the redundancy, then redundant_joints_map_index will be a 6 dimensional vector - [0 1 3 4 5 6], i.e. joint_value_full(redundant_joints_map_index[i]) = joint_value_reduced(i), for i=0,...5.

Definition at line 91 of file kdl_kinematics_plugin/src/chainiksolver_vel_pinv_mimic.cpp.

bool KDL::ChainIkSolverVel_pinv_mimic::setRedundantJointsMapIndex ( const std::vector< unsigned int > &  redundant_joints_map_index)

Set a mapping between a reduced set of joints (numbering either 6 or 3) and the full set of active (i.e excluding the mimic joints) DOFs in the robot. As an example, consider an arm with 7 joints: j0 to j6. If j2 represents the redundancy, then redundant_joints_map_index will be a 6 dimensional vector - [0 1 3 4 5 6], i.e. joint_value_full(redundant_joints_map_index[i]) = joint_value_reduced(i), for i=0,...5.

Definition at line 109 of file chainiksolver_vel_pinv_mimic.hpp.

Definition at line 120 of file chainiksolver_vel_pinv_mimic.h.


Member Data Documentation

Definition at line 118 of file chainiksolver_vel_pinv_mimic.hpp.

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Definition at line 119 of file chainiksolver_vel_pinv_mimic.hpp.

std::vector< unsigned int > KDL::ChainIkSolverVel_pinv_mimic::locked_joints_map_index [private]

Definition at line 169 of file chainiksolver_vel_pinv_mimic.hpp.

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Definition at line 125 of file chainiksolver_vel_pinv_mimic.hpp.

Eigen::VectorXd KDL::ChainIkSolverVel_pinv_mimic::S_locked [private]

Definition at line 157 of file chainiksolver_vel_pinv_mimic.hpp.

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Eigen::MatrixXd KDL::ChainIkSolverVel_pinv_mimic::U_locked [private]

Definition at line 156 of file chainiksolver_vel_pinv_mimic.hpp.

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Eigen::MatrixXd KDL::ChainIkSolverVel_pinv_mimic::V_locked [private]

Definition at line 158 of file chainiksolver_vel_pinv_mimic.hpp.

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


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:23