Constraint to specify Cartesian goal orientation (XYZ rotation) More...

#include <goal_orientation.h>

Inheritance diagram for constrained_ik::constraints::GoalOrientation:

Public Member Functions
virtual Eigen::VectorXd	calcError ()
	Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of base coordinate system Each element is multiplied by corresponding element in weight_.
virtual Eigen::MatrixXd	calcJacobian ()
	Jacobian is the last three rows of standard jacobian (in base frame). Equivalent to each axis of rotation expressed in base frame coordinates. Each row is scaled by the corresponding element of weight_.
virtual bool	checkStatus () const
	Checks termination criteria Termination criteria for this constraint is that angle error is below threshold.
Eigen::Vector3d	getWeight ()
	Getter for weight_.
	GoalOrientation ()
virtual void	reset ()
	Resets constraint. Use this before performing new IK request.
void	setTolerance (double tol)
	Setter for tolerance (termination criteria)
void	setWeight (const Eigen::Vector3d &weight)
	Setter for weight_.
virtual void	update (const SolverState &state)
	Update internal state of constraint (overrides constraint::update) Sets current rotation error.
virtual	~GoalOrientation ()
Static Public Member Functions
static double	calcAngle (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)
	Shortest angle between current orientation and goal orientation.
static Eigen::Vector3d	calcAngleError (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)
	Calculate 3-element rotation vector necessary to rotate pose p1 into pose p2.
Protected Attributes
double	rot_err_
double	rot_err_tol_
Eigen::Vector3d	weight_

Detailed Description

Constraint to specify Cartesian goal orientation (XYZ rotation)

Definition at line 33 of file goal_orientation.h.

Constructor & Destructor Documentation

constrained_ik::constraints::GoalOrientation::GoalOrientation ( )

Definition at line 31 of file goal_orientation.cpp.

virtual constrained_ik::constraints::GoalOrientation::~GoalOrientation ( ) [inline, virtual]

Definition at line 37 of file goal_orientation.h.

Member Function Documentation

double constrained_ik::constraints::GoalOrientation::calcAngle	(	const Eigen::Affine3d &	p1,
		const Eigen::Affine3d &	p2
	)		`[static]`

Shortest angle between current orientation and goal orientation.

Parameters:

p1	Current pose
p2	Goal pose

Returns:: Shortest angle between p1 and p2

Definition at line 35 of file goal_orientation.cpp.

Eigen::Vector3d constrained_ik::constraints::GoalOrientation::calcAngleError	(	const Eigen::Affine3d &	p1,
		const Eigen::Affine3d &	p2
	)		`[static]`

Calculate 3-element rotation vector necessary to rotate pose p1 into pose p2.

Parameters:

p1	Current pose
p2	Goal pose

Returns:: x,y,z rotation from p1 to p2

Definition at line 41 of file goal_orientation.cpp.

Eigen::VectorXd constrained_ik::constraints::GoalOrientation::calcError ( ) [virtual]

Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of base coordinate system Each element is multiplied by corresponding element in weight_.

Returns:: Rotation from current to goal scaled by weight_

Implements constrained_ik::Constraint.

Reimplemented in constrained_ik::constraints::GoalToolOrientation.

Definition at line 48 of file goal_orientation.cpp.

Eigen::MatrixXd constrained_ik::constraints::GoalOrientation::calcJacobian ( ) [virtual]

Jacobian is the last three rows of standard jacobian (in base frame). Equivalent to each axis of rotation expressed in base frame coordinates. Each row is scaled by the corresponding element of weight_.

Returns:: Last 3 rows of standard jacobian scaled by weight_

Implements constrained_ik::Constraint.

Reimplemented in constrained_ik::constraints::GoalToolOrientation.

Definition at line 57 of file goal_orientation.cpp.

bool constrained_ik::constraints::GoalOrientation::checkStatus ( ) const [virtual]

Checks termination criteria Termination criteria for this constraint is that angle error is below threshold.

Returns:: True if angle error is below threshold

Reimplemented from constrained_ik::Constraint.

Definition at line 72 of file goal_orientation.cpp.

Eigen::Vector3d constrained_ik::constraints::GoalOrientation::getWeight ( ) [inline]

Getter for weight_.

Returns:: weight_

Definition at line 76 of file goal_orientation.h.

void constrained_ik::constraints::GoalOrientation::reset ( ) [virtual]

Resets constraint. Use this before performing new IK request.

Reimplemented from constrained_ik::Constraint.

Definition at line 81 of file goal_orientation.cpp.

void constrained_ik::constraints::GoalOrientation::setTolerance ( double tol ) [inline]

Setter for tolerance (termination criteria)

Parameters:

tol	Value to assign to tol_

Definition at line 85 of file goal_orientation.h.

void constrained_ik::constraints::GoalOrientation::setWeight ( const Eigen::Vector3d & weight ) [inline]

Setter for weight_.

Parameters:

weight Value to assign to weight_

Definition at line 90 of file goal_orientation.h.

void constrained_ik::constraints::GoalOrientation::update ( const SolverState & state ) [virtual]

Update internal state of constraint (overrides constraint::update) Sets current rotation error.

Parameters:

state SolverState holding current state of IK solver

Reimplemented from constrained_ik::Constraint.

Definition at line 87 of file goal_orientation.cpp.

Member Data Documentation

double constrained_ik::constraints::GoalOrientation::rot_err_ [protected]

Definition at line 100 of file goal_orientation.h.

double constrained_ik::constraints::GoalOrientation::rot_err_tol_ [protected]

Definition at line 99 of file goal_orientation.h.

Eigen::Vector3d constrained_ik::constraints::GoalOrientation::weight_ [protected]

Definition at line 101 of file goal_orientation.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation