Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | Friends | List of all members
NLOPT_IK::NLOPT_IK Class Reference

#include <nlopt_ik.hpp>

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::BasicJointTypetypes
 
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.

NLOPT_IK::NLOPT_IK::~NLOPT_IK ( )
inline

Definition at line 50 of file nlopt_ik.hpp.

Member Function Documentation

void NLOPT_IK::NLOPT_IK::abort ( )
inlineprivate

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 
)
inlinestaticprivate

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 ( )
inlineprivate

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

bool NLOPT_IK::NLOPT_IK::aborted
private

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.

KDL::Twist NLOPT_IK::NLOPT_IK::bounds
private

Definition at line 109 of file nlopt_ik.hpp.

const KDL::Chain NLOPT_IK::NLOPT_IK::chain
private

Definition at line 80 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::currentPose
private

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.

KDL::ChainFkSolverPos_recursive NLOPT_IK::NLOPT_IK::fksolver
private

Definition at line 84 of file nlopt_ik.hpp.

int NLOPT_IK::NLOPT_IK::iter_counter
private

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.

int NLOPT_IK::NLOPT_IK::progress
private

Definition at line 106 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::targetPose
private

Definition at line 91 of file nlopt_ik.hpp.

OptType NLOPT_IK::NLOPT_IK::TYPE
private

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.

KDL::Frame NLOPT_IK::NLOPT_IK::x_out
private

Definition at line 93 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::x_target
private

Definition at line 96 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::y_out
private

Definition at line 94 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::y_target
private

Definition at line 97 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::z_target
private

Definition at line 95 of file nlopt_ik.hpp.

KDL::Frame NLOPT_IK::NLOPT_IK::z_up
private

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 Tue Apr 23 2019 02:39:13