#include <SimpleFullbodyInverseKinematicsSolver.h>

Classes
struct	IKparam
Public Member Functions
void	checkIKTracking (IKparam &param, const std::string &limb_name, const bool is_transition)
hrp::Vector3	getEndEffectorPos (const std::string &limb_name)
hrp::Matrix33	getEndEffectorRot (const std::string &limb_name)
void	getIKParam (std::vector< std::string > &ee_vec, _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)
void	initializeInterlockingJoints (std::vector< std::pair< hrp::Link , hrp::Link > > &interlocking_joints)
void	limbStretchAvoidanceControl (const std::vector< hrp::Vector3 > &target_p, const std::vector< std::string > &target_name)
void	printIKparam (std::vector< std::string > &ee_vec)
void	printParam () const
void	resetIKFailParam ()
void	revertRobotStateToCurrent ()
void	setIKParam (std::vector< std::string > &ee_vec, const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)
void	setReferenceJointAngles ()
	SimpleFullbodyInverseKinematicsSolver (hrp::BodyPtr &_robot, const std::string &_print_str, const double _dt)
void	solveFullbodyIK (const hrp::Vector3 &_dif_cog, const bool is_transition)
bool	solveLimbIK (IKparam &param, const std::string &limb_name, const double ratio_for_vel, const bool is_transition)
void	storeCurrentParameters ()
double	vlimit (const double value, const double llimit_value, const double ulimit_value)
	~SimpleFullbodyInverseKinematicsSolver ()
Public Attributes
hrp::Vector3	current_root_p
hrp::Matrix33	current_root_R
double	d_root_height
std::map< std::string, IKparam >	ikp
double	limb_stretch_avoidance_time_const
double	limb_stretch_avoidance_vlimit [2]
double	m_dt
double	move_base_gain
std::vector< int >	overwrite_ref_ja_index_vec
double	pos_ik_thre
hrp::dvector	qrefv
double	ratio_for_vel
double	rot_ik_thre
hrp::Vector3	target_root_p
hrp::Matrix33	target_root_R
bool	use_limb_stretch_avoidance
Private Attributes
bool	has_ik_failed
int	ik_error_debug_print_freq
hrp::BodyPtr	m_robot
std::string	print_str
hrp::dvector	qorg

Detailed Description

Definition at line 12 of file SimpleFullbodyInverseKinematicsSolver.h.

Constructor & Destructor Documentation

SimpleFullbodyInverseKinematicsSolver::SimpleFullbodyInverseKinematicsSolver	(	hrp::BodyPtr &	_robot,
		const std::string &	_print_str,
		const double	_dt
	)		`[inline]`

Definition at line 68 of file SimpleFullbodyInverseKinematicsSolver.h.

SimpleFullbodyInverseKinematicsSolver::~SimpleFullbodyInverseKinematicsSolver ( ) [inline]

Definition at line 84 of file SimpleFullbodyInverseKinematicsSolver.h.

Member Function Documentation

void SimpleFullbodyInverseKinematicsSolver::checkIKTracking	(	IKparam &	param,
		const std::string &	limb_name,
		const bool	is_transition
	)		`[inline]`

Definition at line 158 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Vector3 SimpleFullbodyInverseKinematicsSolver::getEndEffectorPos ( const std::string & limb_name ) [inline]

Definition at line 329 of file SimpleFullbodyInverseKinematicsSolver.h.

hrp::Matrix33 SimpleFullbodyInverseKinematicsSolver::getEndEffectorRot ( const std::string & limb_name ) [inline]

Definition at line 332 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::getIKParam	(	std::vector< std::string > &	ee_vec,
		_CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &	ik_limb_parameters
	)		`[inline]`

Definition at line 190 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::initializeInterlockingJoints ( std::vector< std::pair< hrp::Link *, hrp::Link * > > & interlocking_joints ) [inline]

Definition at line 86 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::limbStretchAvoidanceControl	(	const std::vector< hrp::Vector3 > &	target_p,
		const std::vector< std::string > &	target_name
	)		`[inline]`

Definition at line 254 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::printIKparam ( std::vector< std::string > & ee_vec ) [inline]

Definition at line 293 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::printParam ( ) const [inline]

Definition at line 287 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::resetIKFailParam ( ) [inline]

Definition at line 183 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::revertRobotStateToCurrent ( ) [inline]

Definition at line 101 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::setIKParam	(	std::vector< std::string > &	ee_vec,
		const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &	ik_limb_parameters
	)		`[inline]`

Definition at line 210 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::setReferenceJointAngles ( ) [inline]

Definition at line 115 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::solveFullbodyIK	(	const hrp::Vector3 &	_dif_cog,
		const bool	is_transition
	)		`[inline]`

Definition at line 122 of file SimpleFullbodyInverseKinematicsSolver.h.

bool SimpleFullbodyInverseKinematicsSolver::solveLimbIK	(	IKparam &	param,
		const std::string &	limb_name,
		const double	ratio_for_vel,
		const bool	is_transition
	)		`[inline]`