Public Member Functions | Private Member Functions | Private Attributes | List of all members
KDL::ChainIkSolverPos_LMA_JL_Mimic Class Reference

#include <chainiksolver_pos_lma_jl_mimic.h>

Inheritance diagram for KDL::ChainIkSolverPos_LMA_JL_Mimic:
Inheritance graph

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
virtual int CartToJntAdvanced (const JntArray &q_init, const Frame &p_in, JntArray &q_out, bool lock_redundant_joints)
 ChainIkSolverPos_LMA_JL_Mimic (const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverPos_LMA &iksolver, unsigned int maxiter=100, double eps=1e-6, bool position_ik=false)
bool setMimicJoints (const std::vector< lma_kinematics_plugin::JointMimic > &mimic_joints)
 ~ChainIkSolverPos_LMA_JL_Mimic ()
- Public Member Functions inherited from KDL::ChainIkSolverPos
virtual ~ChainIkSolverPos ()
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 SolverI ()
virtual const char * strError (const int error) const
virtual ~SolverI ()

Private Member Functions

void harmonize (JntArray &q_out)
bool obeysLimits (const KDL::JntArray &q_out)
void qMimicToq (const JntArray &q, JntArray &q_result)
void qToqMimic (const JntArray &q, JntArray &q_result)

Private Attributes

const Chain chain
JntArray delta_q
Twist delta_twist
double eps
Frame f
unsigned int maxiter
std::vector< lma_kinematics_plugin::JointMimicmimic_joints
bool position_ik
JntArray q_max
JntArray q_max_mimic
JntArray q_min
JntArray q_min_mimic
JntArray q_temp

Additional Inherited Members

- Public Attributes inherited from KDL::SolverI
- Protected Attributes inherited from KDL::SolverI
int error

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Levenberg-Marquardt method to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. Takes joint limits into account.

Definition at line 55 of file chainiksolver_pos_lma_jl_mimic.h.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_LMA_JL_Mimic::ChainIkSolverPos_LMA_JL_Mimic ( const Chain chain,
const JntArray q_min,
const JntArray q_max,
ChainFkSolverPos fksolver,
ChainIkSolverPos_LMA iksolver,
unsigned int  maxiter = 100,
double  eps = 1e-6,
bool  position_ik = false 

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

chainthe chain to calculate the inverse position for
q_maxthe maximum joint positions
q_minthe minimum joint positions
fksolvera forward position kinematics solver
iksolveran inverse velocity kinematics solver
maxiterthe maximum Levenberg-Marquardt iterations, default: 100
epsthe precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Definition at line 42 of file chainiksolver_pos_lma_jl_mimic.cpp.

KDL::ChainIkSolverPos_LMA_JL_Mimic::~ChainIkSolverPos_LMA_JL_Mimic ( )

Definition at line 166 of file chainiksolver_pos_lma_jl_mimic.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_LMA_JL_Mimic::CartToJnt ( const JntArray q_init,
const Frame p_in,
JntArray q_out 

Implements KDL::ChainIkSolverPos.

Definition at line 119 of file chainiksolver_pos_lma_jl_mimic.cpp.

int KDL::ChainIkSolverPos_LMA_JL_Mimic::CartToJntAdvanced ( const JntArray q_init,
const Frame p_in,
JntArray q_out,
bool  lock_redundant_joints 

Definition at line 154 of file chainiksolver_pos_lma_jl_mimic.cpp.

void KDL::ChainIkSolverPos_LMA_JL_Mimic::harmonize ( JntArray q_out)

Definition at line 124 of file chainiksolver_pos_lma_jl_mimic.cpp.

bool KDL::ChainIkSolverPos_LMA_JL_Mimic::obeysLimits ( const KDL::JntArray q_out)

Definition at line 137 of file chainiksolver_pos_lma_jl_mimic.cpp.

void KDL::ChainIkSolverPos_LMA_JL_Mimic::qMimicToq ( const JntArray q,
JntArray q_result 

Definition at line 108 of file chainiksolver_pos_lma_jl_mimic.cpp.

void KDL::ChainIkSolverPos_LMA_JL_Mimic::qToqMimic ( const JntArray q,
JntArray q_result 

Definition at line 100 of file chainiksolver_pos_lma_jl_mimic.cpp.

bool KDL::ChainIkSolverPos_LMA_JL_Mimic::setMimicJoints ( const std::vector< lma_kinematics_plugin::JointMimic > &  mimic_joints)

Definition at line 72 of file chainiksolver_pos_lma_jl_mimic.cpp.

Member Data Documentation

const Chain KDL::ChainIkSolverPos_LMA_JL_Mimic::chain

Definition at line 88 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::delta_q

Definition at line 96 of file chainiksolver_pos_lma_jl_mimic.h.

Twist KDL::ChainIkSolverPos_LMA_JL_Mimic::delta_twist

Definition at line 98 of file chainiksolver_pos_lma_jl_mimic.h.

double KDL::ChainIkSolverPos_LMA_JL_Mimic::eps

Definition at line 100 of file chainiksolver_pos_lma_jl_mimic.h.

Frame KDL::ChainIkSolverPos_LMA_JL_Mimic::f

Definition at line 97 of file chainiksolver_pos_lma_jl_mimic.h.

ChainFkSolverPos& KDL::ChainIkSolverPos_LMA_JL_Mimic::fksolver

Definition at line 94 of file chainiksolver_pos_lma_jl_mimic.h.

ChainIkSolverPos_LMA& KDL::ChainIkSolverPos_LMA_JL_Mimic::iksolver

Definition at line 95 of file chainiksolver_pos_lma_jl_mimic.h.

unsigned int KDL::ChainIkSolverPos_LMA_JL_Mimic::maxiter

Definition at line 99 of file chainiksolver_pos_lma_jl_mimic.h.

std::vector<lma_kinematics_plugin::JointMimic> KDL::ChainIkSolverPos_LMA_JL_Mimic::mimic_joints

Definition at line 101 of file chainiksolver_pos_lma_jl_mimic.h.

bool KDL::ChainIkSolverPos_LMA_JL_Mimic::position_ik

Definition at line 107 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_max

Definition at line 91 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_max_mimic

Definition at line 92 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_min

Definition at line 89 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_min_mimic

Definition at line 90 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_temp

Definition at line 93 of file chainiksolver_pos_lma_jl_mimic.h.

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

Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Sun Mar 18 2018 02:58:20