kinematics_metrics.h
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34 
35 /* Author: Sachin Chitta */
36 
37 #ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
38 #define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
39 
42 
45 {
47 
53 {
54 public:
56  KinematicsMetrics(const robot_model::RobotModelConstPtr& robot_model)
57  : robot_model_(robot_model), penalty_multiplier_(0.0)
58  {
59  }
60 
68  bool getManipulabilityIndex(const robot_state::RobotState& state, const std::string& group_name,
69  double& manipulability_index, bool translation = false) const;
70 
79  const robot_model::JointModelGroup* joint_model_group, double& manipulability_index,
80  bool translation = false) const;
81 
90  bool getManipulabilityEllipsoid(const robot_state::RobotState& state, const std::string& group_name,
91  Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
92 
102  const robot_model::JointModelGroup* joint_model_group, Eigen::MatrixXcd& eigen_values,
103  Eigen::MatrixXcd& eigen_vectors) const;
104 
114  bool getManipulability(const robot_state::RobotState& state, const std::string& group_name, double& condition_number,
115  bool translation = false) const;
116 
126  bool getManipulability(const robot_state::RobotState& state, const robot_model::JointModelGroup* joint_model_group,
127  double& condition_number, bool translation = false) const;
128 
129  void setPenaltyMultiplier(double multiplier)
130  {
131  penalty_multiplier_ = fabs(multiplier);
132  }
133 
134  const double& getPenaltyMultiplier() const
135  {
136  return penalty_multiplier_;
137  }
138 
139 protected:
140  robot_model::RobotModelConstPtr robot_model_;
141 
142 private:
156  const robot_model::JointModelGroup* joint_model_group) const;
157 
159 };
160 }
161 
162 #endif
Core components of MoveIt!
MOVEIT_CLASS_FORWARD(KinematicsMetrics)
double getJointLimitsPenalty(const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group) const
Defines a multiplier for the manipulabilty = 1 - exp ( -penalty_multipler_ * product_{i=1}{n} (distan...
const double & getPenaltyMultiplier() const
Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability.
bool getManipulabilityEllipsoid(const robot_state::RobotState &state, const std::string &group_name, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const
Get the (translation) manipulability ellipsoid for a given group at a given joint configuration...
bool getManipulability(const robot_state::RobotState &state, const std::string &group_name, double &condition_number, bool translation=false) const
Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and large...
void setPenaltyMultiplier(double multiplier)
robot_model::RobotModelConstPtr robot_model_
Representation of a robot's state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
bool getManipulabilityIndex(const robot_state::RobotState &state, const std::string &group_name, double &manipulability_index, bool translation=false) const
Get the manipulability for a given group at a given joint configuration.
KinematicsMetrics(const robot_model::RobotModelConstPtr &robot_model)
Construct a KinematicsMetricss from a RobotModel.
Namespace for kinematics metrics.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 15 2018 03:44:46