Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | Friends
NLOPT_IK::NLOPT_IK Class Reference

#include <nlopt_ik.hpp>

List of all members.

Public Member Functions

void cartDQError (const std::vector< double > &x, double error[])
void cartL2NormError (const std::vector< double > &x, double error[])
void cartSumSquaredError (const std::vector< double > &x, double error[])
int CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray &q_desired=KDL::JntArray())
double minJoints (const std::vector< double > &x, std::vector< double > &grad)
 NLOPT_IK (const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq)
void setMaxtime (double t)
 ~NLOPT_IK ()

Private Member Functions

void abort ()
void reset ()

Static Private Member Functions

static double fRand (double min, double max)

Private Attributes

bool aborted
std::vector< double > best_x
KDL::Twist bounds
const KDL::Chain chain
KDL::Frame currentPose
std::vector< double > des
double eps
KDL::ChainFkSolverPos_recursive fksolver
int iter_counter
std::vector< double > lb
double maxtime
nlopt::opt opt
int progress
KDL::Frame targetPose
OptType TYPE
std::vector< KDL::BasicJointType > types
std::vector< double > ub
KDL::Frame x_out
KDL::Frame x_target
KDL::Frame y_out
KDL::Frame y_target
KDL::Frame z_target
KDL::Frame z_up

Friends

class TRAC_IK::TRAC_IK

Detailed Description

Definition at line 44 of file nlopt_ik.hpp.


Constructor & Destructor Documentation

NLOPT_IK::NLOPT_IK::NLOPT_IK ( const KDL::Chain chain,
const KDL::JntArray q_min,
const KDL::JntArray q_max,
double  maxtime = 0.005,
double  eps = 1e-3,
OptType  type = SumSq 
)

Definition at line 196 of file nlopt_ik.cpp.

Definition at line 50 of file nlopt_ik.hpp.


Member Function Documentation

void NLOPT_IK::NLOPT_IK::abort ( ) [inline, private]

Definition at line 66 of file nlopt_ik.hpp.

void NLOPT_IK::NLOPT_IK::cartDQError ( const std::vector< double > &  x,
double  error[] 
)

Definition at line 386 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::cartL2NormError ( const std::vector< double > &  x,
double  error[] 
)

Definition at line 333 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::cartSumSquaredError ( const std::vector< double > &  x,
double  error[] 
)

Definition at line 281 of file nlopt_ik.cpp.

int NLOPT_IK::NLOPT_IK::CartToJnt ( const KDL::JntArray q_init,
const KDL::Frame p_in,
KDL::JntArray q_out,
const KDL::Twist  bounds = KDL::Twist::Zero(),
const KDL::JntArray q_desired = KDL::JntArray() 
)

Definition at line 445 of file nlopt_ik.cpp.

static double NLOPT_IK::NLOPT_IK::fRand ( double  min,
double  max 
) [inline, static, private]

Definition at line 111 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::minJoints ( const std::vector< double > &  x,
std::vector< double > &  grad 
)

Definition at line 260 of file nlopt_ik.cpp.

void NLOPT_IK::NLOPT_IK::reset ( ) [inline, private]

Definition at line 71 of file nlopt_ik.hpp.

void NLOPT_IK::NLOPT_IK::setMaxtime ( double  t) [inline]

Definition at line 59 of file nlopt_ik.hpp.


Friends And Related Function Documentation

friend class TRAC_IK::TRAC_IK [friend]

Definition at line 46 of file nlopt_ik.hpp.


Member Data Documentation

Definition at line 107 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::best_x [private]

Definition at line 105 of file nlopt_ik.hpp.

Definition at line 109 of file nlopt_ik.hpp.

Definition at line 80 of file nlopt_ik.hpp.

Definition at line 103 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::des [private]

Definition at line 81 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::eps [private]

Definition at line 87 of file nlopt_ik.hpp.

Definition at line 84 of file nlopt_ik.hpp.

Definition at line 88 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::lb [private]

Definition at line 77 of file nlopt_ik.hpp.

double NLOPT_IK::NLOPT_IK::maxtime [private]

Definition at line 86 of file nlopt_ik.hpp.

nlopt::opt NLOPT_IK::NLOPT_IK::opt [private]

Definition at line 101 of file nlopt_ik.hpp.

Definition at line 106 of file nlopt_ik.hpp.

Definition at line 91 of file nlopt_ik.hpp.

Definition at line 89 of file nlopt_ik.hpp.

std::vector<KDL::BasicJointType> NLOPT_IK::NLOPT_IK::types [private]

Definition at line 99 of file nlopt_ik.hpp.

std::vector<double> NLOPT_IK::NLOPT_IK::ub [private]

Definition at line 78 of file nlopt_ik.hpp.

Definition at line 93 of file nlopt_ik.hpp.

Definition at line 96 of file nlopt_ik.hpp.

Definition at line 94 of file nlopt_ik.hpp.

Definition at line 97 of file nlopt_ik.hpp.

Definition at line 95 of file nlopt_ik.hpp.

Definition at line 92 of file nlopt_ik.hpp.


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


trac_ik_lib
Author(s): Patrick Beeson, Barrett Ames
autogenerated on Thu Apr 25 2019 03:39:22