Classes | Public Member Functions | Public Attributes | Private Attributes
SimpleFullbodyInverseKinematicsSolver Class Reference

#include <SimpleFullbodyInverseKinematicsSolver.h>

List of all members.

Classes

struct  IKparam

Public Member Functions

void checkIKTracking (IKparam &param, const std::string &limb_name, const bool is_transition)
hrp::Vector3 getEndEffectorPos (const std::string &limb_name)
hrp::Matrix33 getEndEffectorRot (const std::string &limb_name)
void getIKParam (std::vector< std::string > &ee_vec, _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)
void initializeInterlockingJoints (std::vector< std::pair< hrp::Link *, hrp::Link * > > &interlocking_joints)
void limbStretchAvoidanceControl (const std::vector< hrp::Vector3 > &target_p, const std::vector< std::string > &target_name)
void printIKparam (std::vector< std::string > &ee_vec)
void printParam () const
void resetIKFailParam ()
void revertRobotStateToCurrent ()
void setIKParam (std::vector< std::string > &ee_vec, const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &ik_limb_parameters)
void setReferenceJointAngles ()
 SimpleFullbodyInverseKinematicsSolver (hrp::BodyPtr &_robot, const std::string &_print_str, const double _dt)
void solveFullbodyIK (const hrp::Vector3 &_dif_cog, const bool is_transition)
bool solveLimbIK (IKparam &param, const std::string &limb_name, const double ratio_for_vel, const bool is_transition)
void storeCurrentParameters ()
double vlimit (const double value, const double llimit_value, const double ulimit_value)
 ~SimpleFullbodyInverseKinematicsSolver ()

Public Attributes

hrp::Vector3 current_root_p
hrp::Matrix33 current_root_R
double d_root_height
std::map< std::string, IKparamikp
double limb_stretch_avoidance_time_const
double limb_stretch_avoidance_vlimit [2]
double m_dt
double move_base_gain
std::vector< intoverwrite_ref_ja_index_vec
double pos_ik_thre
hrp::dvector qrefv
double ratio_for_vel
double rot_ik_thre
hrp::Vector3 target_root_p
hrp::Matrix33 target_root_R
bool use_limb_stretch_avoidance

Private Attributes

bool has_ik_failed
int ik_error_debug_print_freq
hrp::BodyPtr m_robot
std::string print_str
hrp::dvector qorg

Detailed Description

Definition at line 12 of file SimpleFullbodyInverseKinematicsSolver.h.


Constructor & Destructor Documentation

SimpleFullbodyInverseKinematicsSolver::SimpleFullbodyInverseKinematicsSolver ( hrp::BodyPtr _robot,
const std::string &  _print_str,
const double  _dt 
) [inline]

Definition at line 68 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 84 of file SimpleFullbodyInverseKinematicsSolver.h.


Member Function Documentation

void SimpleFullbodyInverseKinematicsSolver::checkIKTracking ( IKparam param,
const std::string &  limb_name,
const bool  is_transition 
) [inline]

Definition at line 158 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 329 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 332 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::getIKParam ( std::vector< std::string > &  ee_vec,
_CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &  ik_limb_parameters 
) [inline]

Definition at line 190 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::initializeInterlockingJoints ( std::vector< std::pair< hrp::Link *, hrp::Link * > > &  interlocking_joints) [inline]

Definition at line 86 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::limbStretchAvoidanceControl ( const std::vector< hrp::Vector3 > &  target_p,
const std::vector< std::string > &  target_name 
) [inline]

Definition at line 254 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::printIKparam ( std::vector< std::string > &  ee_vec) [inline]

Definition at line 293 of file SimpleFullbodyInverseKinematicsSolver.h.

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Definition at line 183 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 101 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::setIKParam ( std::vector< std::string > &  ee_vec,
const _CORBA_Unbounded_Sequence< OpenHRP::AutoBalancerService::IKLimbParameters > &  ik_limb_parameters 
) [inline]

Definition at line 210 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 115 of file SimpleFullbodyInverseKinematicsSolver.h.

void SimpleFullbodyInverseKinematicsSolver::solveFullbodyIK ( const hrp::Vector3 _dif_cog,
const bool  is_transition 
) [inline]

Definition at line 122 of file SimpleFullbodyInverseKinematicsSolver.h.

bool SimpleFullbodyInverseKinematicsSolver::solveLimbIK ( IKparam param,
const std::string &  limb_name,
const double  ratio_for_vel,
const bool  is_transition 
) [inline]

Definition at line 150 of file SimpleFullbodyInverseKinematicsSolver.h.

Definition at line 93 of file SimpleFullbodyInverseKinematicsSolver.h.

double SimpleFullbodyInverseKinematicsSolver::vlimit ( const double  value,
const double  llimit_value,
const double  ulimit_value 
) [inline]

Definition at line 277 of file SimpleFullbodyInverseKinematicsSolver.h.


Member Data Documentation

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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:58