KDL::ChainIkSolverPos_LMA_JL_Mimic Class Reference

#include <chainiksolver_pos_lma_jl_mimic.h>

Inheritance diagram for KDL::ChainIkSolverPos_LMA_JL_Mimic:

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 void	updateInternalDataStructures ()=0
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
ChainFkSolverPos &	fksolver
ChainIkSolverPos_LMA &	iksolver
unsigned int	maxiter
std::vector< lma_kinematics_plugin::JointMimic >	mimic_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
	E_DEGRADED
	E_MAX_ITERATIONS_EXCEEDED
	E_NO_CONVERGE
	E_NOERROR
	E_NOT_IMPLEMENTED
	E_NOT_UP_TO_DATE
	E_OUT_OF_RANGE
	E_SIZE_MISMATCH
	E_SVD_FAILED
	E_UNDEFINED
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.

Parameters

chain	the chain to calculate the inverse position for
q_max	the maximum joint positions
q_min	the minimum joint positions
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Levenberg-Marquardt iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

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  )

virtual

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  )

virtual

Definition at line 154 of file chainiksolver_pos_lma_jl_mimic.cpp.

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

private

Definition at line 124 of file chainiksolver_pos_lma_jl_mimic.cpp.

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

private

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  )

private

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  )

private

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

private

Definition at line 88 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::delta_q

private

Definition at line 96 of file chainiksolver_pos_lma_jl_mimic.h.

Twist KDL::ChainIkSolverPos_LMA_JL_Mimic::delta_twist

private

Definition at line 98 of file chainiksolver_pos_lma_jl_mimic.h.

double KDL::ChainIkSolverPos_LMA_JL_Mimic::eps

private

Definition at line 100 of file chainiksolver_pos_lma_jl_mimic.h.

Frame KDL::ChainIkSolverPos_LMA_JL_Mimic::f

private

Definition at line 97 of file chainiksolver_pos_lma_jl_mimic.h.

ChainFkSolverPos& KDL::ChainIkSolverPos_LMA_JL_Mimic::fksolver

private

Definition at line 94 of file chainiksolver_pos_lma_jl_mimic.h.

ChainIkSolverPos_LMA& KDL::ChainIkSolverPos_LMA_JL_Mimic::iksolver

private

Definition at line 95 of file chainiksolver_pos_lma_jl_mimic.h.

unsigned int KDL::ChainIkSolverPos_LMA_JL_Mimic::maxiter

private

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

private

Definition at line 101 of file chainiksolver_pos_lma_jl_mimic.h.

bool KDL::ChainIkSolverPos_LMA_JL_Mimic::position_ik

private

Definition at line 107 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_max

private

Definition at line 91 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_max_mimic

private

Definition at line 92 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_min

private

Definition at line 89 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_min_mimic

private

Definition at line 90 of file chainiksolver_pos_lma_jl_mimic.h.

JntArray KDL::ChainIkSolverPos_LMA_JL_Mimic::q_temp

private

Definition at line 93 of file chainiksolver_pos_lma_jl_mimic.h.

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

• chainiksolver_pos_lma_jl_mimic.h
• chainiksolver_pos_lma_jl_mimic.cpp