#include <KdlTreeIk.h>

Inheritance diagram for KdlTreeIk:

Public Types
typedef KDL::Twist	NodePriority
Public Member Functions
virtual void	getFrames (const KDL::JntArray &joints_in, std::map< std::string, KDL::Frame > &frameMap)
	getJoints
virtual void	getJointPositions (const KDL::JntArray &joints_in, const std::vector< std::string > &nodeNames, const std::vector< KDL::Frame > &nodeFrames, KDL::JntArray &joints_out, const std::vector< NodePriority > &nodePriorities)
double	getTimeStep () const
	KdlTreeIk ()
void	resetSolver ()
void	setEpsilon (double eps_in=1e-6)
void	setJointInertias (const std::map< std::string, double > &inertia_in)
void	setLambda (double lambda=0.05)
void	setMaxCriticalIterations (unsigned int maxIter_in=50)
void	setMaxNonCriticalIterations (unsigned int maxIter_in=5)
void	setPositionLimiter (boost::shared_ptr< JointNamePositionLimiter > posLimiter)
void	setPriorityTol (const std::map< int, std::pair< double, double > > &priority_tol)
void	setTimeStep (double timeStep_in=0.01)
	set time step between trajectory bread crumbs
	~KdlTreeIk ()
Public Attributes
std::auto_ptr< KdlTreeFk >	fkPosSolverPtr
Static Public Attributes
static const int	CRITICAL = r2_msgs::PriorityArray::CRITICAL
static const int	HIGH = r2_msgs::PriorityArray::HIGH
static const int	IGNORE = r2_msgs::PriorityArray::IGNORE
static const int	LOW = r2_msgs::PriorityArray::LOW
static const int	MEDIUM = r2_msgs::PriorityArray::MEDIUM
Protected Member Functions
virtual void	initialize ()
	initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded
Protected Attributes
unsigned int	critMaxIter
double	eps
std::map< std::string, double >	inertiaMap
	the mapping of joint names to joint inertias Joint Name : joint inertia
KDL::JntArray	inertias
	the inertia of each joint in the same position as received from getJointPositions
std::auto_ptr < KDL::TreeJntToJacSolver >	jacSolverPtr
std::vector< std::string >	jointNames
double	lambda_squared
double	maxInertia
double	minInertia
unsigned int	nonCritMaxIter
boost::shared_ptr < JointNamePositionLimiter >	positionLimiter
std::map< int, std::pair < double, double > >	priorityTolMap
	the mapping between priority number and tolerence amount Priority Num : (Linear Tolerence, Angular Tolerence) (m, rad)
double	timeStep
Private Member Functions
void	getJointVelocities (const KDL::JntArray &joints_in, const std::vector< std::pair< std::string, KDL::Twist > > &twist_deltas, const std::vector< NodePriority > &nodePriorities, KDL::JntArray &joint_deltas) const
	getJointVelocities - getJointVelocities.
Private Attributes
bool	useDampedLeastSquares

Detailed Description

Definition at line 23 of file KdlTreeIk.h.

Member Typedef Documentation

typedef KDL::Twist KdlTreeIk::NodePriority

Definition at line 26 of file KdlTreeIk.h.

Constructor & Destructor Documentation

KdlTreeIk::KdlTreeIk ( )

Definition at line 9 of file KdlTreeIk.cpp.

KdlTreeIk::~KdlTreeIk ( )

Definition at line 21 of file KdlTreeIk.cpp.

Member Function Documentation

void KdlTreeIk::getFrames	(	const KDL::JntArray &	joints_in,
		std::map< std::string, KDL::Frame > &	frameMap
	)		`[virtual]`

getJoints

Parameters:

joints_in	input joints
nodeNames	input frame names
nodeFrames	input frames
joints_out	output joints
nodePriorities	input node priorities (6 * nodeNames.size())

Reimplemented in MobileTreeIk.

Definition at line 56 of file KdlTreeIk.cpp.

void KdlTreeIk::getJointPositions	(	const KDL::JntArray &	joints_in,
		const std::vector< std::string > &	nodeNames,
		const std::vector< KDL::Frame > &	nodeFrames,
		KDL::JntArray &	joints_out,
		const std::vector< NodePriority > &	nodePriorities
	)		`[virtual]`

Reimplemented in MobileTreeIk, and KdlTreeTr.

Definition at line 99 of file KdlTreeIk.cpp.

void KdlTreeIk::getJointVelocities	(	const KDL::JntArray &	joints_in,
		const std::vector< std::pair< std::string, KDL::Twist > > &	twist_deltas,
		const std::vector< NodePriority > &	nodePriorities,
		KDL::JntArray &	joint_deltas
	)		const `[private]`

getJointVelocities - getJointVelocities.

Definition at line 215 of file KdlTreeIk.cpp.

double KdlTreeIk::getTimeStep ( ) const [inline]

Definition at line 38 of file KdlTreeIk.h.

void KdlTreeIk::initialize ( ) [protected, virtual]

initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded

Reimplemented from KdlTreeParser.

Reimplemented in MobileTreeIk, and KdlTreeTr.

Definition at line 25 of file KdlTreeIk.cpp.

void KdlTreeIk::resetSolver ( )

Definition at line 35 of file KdlTreeIk.cpp.

void KdlTreeIk::setEpsilon ( double eps_in = 1e-6 ) [inline]

Definition at line 61 of file KdlTreeIk.h.

void KdlTreeIk::setJointInertias ( const std::map< std::string, double > & inertia_in )

Reimplemented in KdlTreeTr.

Definition at line 60 of file KdlTreeIk.cpp.

void KdlTreeIk::setLambda ( double lambda = 0.05 ) [inline]

Definition at line 68 of file KdlTreeIk.h.

void KdlTreeIk::setMaxCriticalIterations ( unsigned int maxIter_in = 50 ) [inline]

Definition at line 50 of file KdlTreeIk.h.

void KdlTreeIk::setMaxNonCriticalIterations ( unsigned int maxIter_in = 5 ) [inline]

Definition at line 56 of file KdlTreeIk.h.

void KdlTreeIk::setPositionLimiter ( boost::shared_ptr< JointNamePositionLimiter > posLimiter ) [inline]

Definition at line 66 of file KdlTreeIk.h.

void KdlTreeIk::setPriorityTol ( const std::map< int, std::pair< double, double > > & priority_tol ) [inline]

Reimplemented in MobileTreeIk.

Definition at line 75 of file KdlTreeIk.h.

void KdlTreeIk::setTimeStep ( double timeStep_in = 0.01 )

set time step between trajectory bread crumbs

Parameters:

timeStep_in time step

Returns:: void

Exceptions:

invalid_argument Time step must be greater than 0

Definition at line 41 of file KdlTreeIk.cpp.

Member Data Documentation

const int KdlTreeIk::CRITICAL = r2_msgs::PriorityArray::CRITICAL [static]

Definition at line 31 of file KdlTreeIk.h.

unsigned int KdlTreeIk::critMaxIter [protected]

Definition at line 110 of file KdlTreeIk.h.

double KdlTreeIk::eps [protected]

Definition at line 112 of file KdlTreeIk.h.

std::auto_ptr<KdlTreeFk> KdlTreeIk::fkPosSolverPtr

Definition at line 100 of file KdlTreeIk.h.

const int KdlTreeIk::HIGH = r2_msgs::PriorityArray::HIGH [static]

Definition at line 30 of file KdlTreeIk.h.

const int KdlTreeIk::IGNORE = r2_msgs::PriorityArray::IGNORE [static]

Definition at line 27 of file KdlTreeIk.h.

std::map<std::string, double> KdlTreeIk::inertiaMap [protected]

the mapping of joint names to joint inertias Joint Name : joint inertia

Definition at line 124 of file KdlTreeIk.h.

KDL::JntArray KdlTreeIk::inertias [protected]

the inertia of each joint in the same position as received from getJointPositions

Definition at line 119 of file KdlTreeIk.h.

std::auto_ptr<KDL::TreeJntToJacSolver> KdlTreeIk::jacSolverPtr [protected]

Definition at line 115 of file KdlTreeIk.h.

std::vector<std::string> KdlTreeIk::jointNames [protected]

Definition at line 105 of file KdlTreeIk.h.

double KdlTreeIk::lambda_squared [protected]

Definition at line 113 of file KdlTreeIk.h.

const int KdlTreeIk::LOW = r2_msgs::PriorityArray::LOW [static]

Definition at line 28 of file KdlTreeIk.h.

double KdlTreeIk::maxInertia [protected]

Definition at line 126 of file KdlTreeIk.h.

const int KdlTreeIk::MEDIUM = r2_msgs::PriorityArray::MEDIUM [static]

Definition at line 29 of file KdlTreeIk.h.

double KdlTreeIk::minInertia [protected]

Definition at line 125 of file KdlTreeIk.h.

unsigned int KdlTreeIk::nonCritMaxIter [protected]

Definition at line 111 of file KdlTreeIk.h.

boost::shared_ptr<JointNamePositionLimiter> KdlTreeIk::positionLimiter [protected]

Definition at line 134 of file KdlTreeIk.h.

std::map<int, std::pair<double, double> > KdlTreeIk::priorityTolMap [protected]

the mapping between priority number and tolerence amount Priority Num : (Linear Tolerence, Angular Tolerence) (m, rad)

Definition at line 132 of file KdlTreeIk.h.

double KdlTreeIk::timeStep [protected]

Definition at line 108 of file KdlTreeIk.h.

bool KdlTreeIk::useDampedLeastSquares [private]

Definition at line 144 of file KdlTreeIk.h.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation