Main class for inverse kinematic computation. More...

#include <ik.h>

Inheritance diagram for IK:

Public Types
enum	ConstIndex { HAVE_CONSTRAINT, NO_CONSTRAINT }

enum	ConstType { HANDLE_CONSTRAINT, DESIRE_CONSTRAINT, COM_CONSTRAINT, SCALAR_JOINT_LIMIT_CONSTRAINT, IK_NUM_CONSTRAINT_TYPES }

enum	Priority { HIGH_PRIORITY = 0, HIGH_IF_POSSIBLE, LOW_PRIORITY, N_PRIORITY_TYPES }

Public Member Functions
int	AddConstraint (IKConstraint *_constraint)

IKHandle *	AddMarker (const std::string &label, const std::string &linkname, const std::string &charname, const fVec3 &rel_pos)
	Add new marker constraint. More...

IKHandle *	AddMarker (const char marker_name, Joint parent_joint, const fVec3 &abs_pos=0.0)

int	ConstraintID (ConstType _type, const char *jname)

int	ConstraintID (int _index)

int	ConstraintIndex (ConstType _type, const char *jname)

int	ConstraintIndex (int _id)

int	DisableDesire (const char *jname)
	Disable desire constraint of the specific joint. More...

int	EditMarker (IKHandle marker, const char body_name, Joint *parent_joint, const fVec3 &abs_pos=0.0)

int	EnableDesire (const char *jname)
	Enable desire constraint of the specific joint. More...

IKConstraint *	FindConstraint (ConstType _type, const char jname, const char charname=0)

IKConstraint *	FindConstraint (int _id)

double	GetMaxConditionNumber ()
	Get maximum condition number. More...

	IK ()
	Default constructor. More...

int	LoadMarkerXML (const char fname, const char _charname)
	Load marker information from XML file. More...

int	NumConstraints ()
	Number of constraints. More...

int	NumConstraints (ConstType t)
	Number of constraints with specific type. More...

int	RemoveAllConstraints ()

int	RemoveConstraint (int _id)

int	ResetAllConstraints ()
	Reset all constraints. More...

int	ResetConstraints (ConstType t)
	Reset the constraints with the specific type. More...

int	SaveMarkers (const char *fname)

void	SetCharacterScale (double _scale, const char *charname=0)
	Set character scale parameter. More...

void	SetConstraintScale (double _scale, const char *charname=0)
	Set constraint scale parameter. More...

int	SetDesireGain (const char *jname, double _gain)
	Set gain of desire constraint of the specific joint. More...

int	SetJointWeight (const char *jname, double _weight)
	Set joint weight, for single-DOF joints. More...

int	SetJointWeight (const char *jname, const fVec &_weight)
	Set joint weight, for multiple-DOF joints. More...

void	SetMaxConditionNumber (double cn)
	Set maximum condition number. More...

double	Update (double timestep)

double	Update (double max_timestep, double min_timestep, double max_integ_error=DEFAULT_MAX_INTEG_ERROR)
	Perform inverse kinematics with adaptive time step. More...

	~IK ()
	Destructor. More...

Public Member Functions inherited from Chain
void	add_scale_object (const scale_object &_s)

int	AddJoint (Joint target, Joint p)
	Add a new joint `target` as a child of joint `p`. More...

int	AddJoint (Joint target, const char parent_name, const char *charname=0)
	Add a new joint `target` as a child of joint with name `parent_name`. More...

Joint *	AddJoint (JointData joint_data, const char charname=0)
	Create and add a joint using `JointData` structure. More...

Joint *	AddRoot (const char *name=0, const fVec3 &grav=fVec3(0.0, 0.0, 9.8))
	Add the (unique) root joint. More...

int	AddRoot (Joint *r)
	Add the (unique) root joint. More...

void	ApplyGeomScale (SceneGraph *sg)

int	BeginCreateChain (int append=false)
	Indicates begining of creating a kinematic chain. More...

void	CalcAcceleration ()

void	CalcPosition ()
	Forward kinematics. More...

void	CalcVelocity ()

	Chain ()

virtual void	Clear ()
	Remove all joints and clear all parameters. More...

void	clear_scale_object_list ()

int	ClearExtForce ()
	Clear the external forces/torques. More...

int	ClearJointForce ()
	Clear the joint forces/torques. More...

double	ComJacobian (fMat &J, fVec3 &com, const char *chname=0)
	Computes the com Jacobian. More...

int	Connect (Joint virtual_joint, Joint parent_joint)
	Connect two links by adding a new virtual joint. More...

int	CreateParallel (int num_char, const char prmname, const char charname, const fVec3 &init_pos=0.0, const fMat33 &init_att=1.0, const fVec3 &pos_offset=0.0, const fMat33 &att_offset=1.0, int init_num=0)
	Automatically generate multiple identical chains. More...

int	CreateSerial (int num_joint, const JointData &joint_data, const char charname=0, Joint parent_joint=0)
	Automatically generate a serial chain. More...

int	Disconnect (Joint *j)
	Disconnect the loop at the specified virtual joint. More...

int	EndCreateChain (SceneGraph *sg=NULL)
	End editing a chain. More...

Joint *	FindCharacterRoot (const char *charname)
	Find the root joint of the character with name `charname`. More...

Joint *	FindJoint (const char jname, const char charname=0)
	Find a joint from name. More...

Joint *	FindJoint (int _id)
	Find a joint with ID `_id`. More...

int	GetJointAcc (fVec &accs)

int	GetJointForce (fVec &forces)
	Obtain the joint forces/torques. More...

int	GetJointList (Joint **&joints)
	Obtain a list of pointers to all joints. More...

int	GetJointNameList (char **&jnames)
	Obtain a list of joint names. More...

int	GetJointValue (fVec &values)
	Obtain the joint values/velocities/accelerations. More...

int	GetJointVel (fVec &vels)

int	Integrate (double timestep)
	Performs Euler integration with timestep `timestep` [s]. More...

int	IntegrateAdaptive (double &timestep, int step, double min_timestep=DEFAULT_MIN_TIMESTEP, double max_integ_error=DEFAULT_MAX_INTEG_ERROR)
	Performs Euler integration with adaptive timestep. More...

int	IntegrateRK4 (double timestep, int step)
	Performs 4-th order Runge-Kutta integration. More...

int	IntegrateRK4Value (double timestep, int step)

int	IntegrateRK4Velocity (double timestep, int step)

int	IntegrateValue (double timestep)
	Integrate value/velocity only. More...

int	IntegrateVelocity (double timestep)

void	InvDyn (fVec &tau)
	Inverse dynamics. More...

int	Load (const char fname, const char charname=0)
	Load the chain from a file in original (*.prm) format. More...

int	LoadXML (const char fname, const char charname=0)
	Load the chain from an XML file. More...

int	NumDOF ()
	Total degrees of freedom. More...

int	NumJoint ()
	Total number of joints. More...

int	NumValue ()
	Dimension of the joint value vector (using Euler parameter representation for orientation). More...

int	RemoveJoint (Joint *j)
	disconnect joint `j` from its parent More...

Joint *	Root ()

int	Save (const char fname, const char charname=0) const
	Save the chain data to a file in original (*.prm) format. More...

int	Save (ostream &ost, const char *charname=0) const

int	SaveStatus (fVec &value, fVec &vel, fVec &acc)
	Save current joint values, velocities, and accelerations. More...

int	SaveXML (const char fname, const char charname=0) const
	Save the chain data to a file in XML format. More...

int	SaveXML (ostream &ost, const char *charname=0) const

int	set_abs_position_orientation (Joint *jnt, const fVec3 &abs_pos, const fMat33 &abs_att)

int	SetAllTorqueGiven (int _tg)
	Change torque/motion control property of all joints. More...

int	SetCharacterTorqueGiven (const char *charname, int _tg)
	Change torque/motion control property of a character. More...

int	SetJointAcc (const fVec &accs)

int	SetJointForce (const fVec &forces)
	Set all joint forces/torques. More...

int	SetJointValue (const fVec &values)
	Set all joint values. More...

int	SetJointVel (const fVec &vels)
	Set all joint velocities/accelerations. More...

int	SetStatus (const fVec &value, const fVec &vel, const fVec &acc)
	Set current joint values, velocities, and accelerations. More...

int	SetTorqueGiven (Joint *_joint, int _tg)
	Change torque/motion control property of a joint. More...

double	TotalCOM (fVec3 &com, const char *chname=0)
	Center of mass of the chain. More...

virtual	~Chain ()

Protected Member Functions
IKHandle *	add_marker (const char marker_name, Joint parent_joint, const fVec3 &abs_pos)

IKHandle *	add_marker (TransformNode *tn)

int	assign_constraints (int _n)

int	calc_feedback ()

int	calc_jacobian ()
	compute the Jacobian matrix More...

int	copy_jacobian ()

int	edit_marker (IKHandle marker, const char body_name, Joint *parent_joint, const fVec3 &abs_pos)

int	init (SceneGraph *sg)
	Initialize the parameters. More...

int	load_markers (SceneGraph sg, Joint rj)

int	load_markers (TransformNode *marker_top)

int	myinit (SceneGraph *sg)

int	save_marker (TransformNode top_tnode, IKHandle h)

void	set_character_scale (Joint jnt, double _scale, const char charname)

double	solve_ik ()
	compute the joint velocity More...

Protected Member Functions inherited from Chain
void	_apply_scale (Joint *jnt, double scale)

void	apply_geom_scale (SceneGraph sg, Joint cur)

virtual void	apply_scale ()

void	apply_scale (const scale_object &_s)

void	apply_scale_sub (Joint *cur, double scale)

void	apply_scale_top (Joint *top, double scale)

void	calc_abs_positions (Joint cur, SceneGraph sg)

void	calc_rel_positions (Joint cur, SceneGraph sg)

virtual int	clear_data ()
	Clear arrays only; don't delete joints. More...

void	init_scale (SceneGraph *sg)

void	init_scale_sub (Node *node)

void	reset_scale ()

void	reset_scale_sub (Joint *jnt)

void	set_all_torque_given (Joint *cur, int _tg)

void	set_relative_positions (SceneGraph *sg)

Protected Attributes
IKConstraint **	constraints
	list of current constraints More...

fVec	fb [N_PRIORITY_TYPES]
	constraint error of each type More...

fMat	J [N_PRIORITY_TYPES]
	Jacobian matrix of each type. More...

fVec	joint_weights
	joint weights More...

double	max_condnum
	maximum condition number More...

int	n_all_const

int	n_assigned_constraints

int	n_const [N_PRIORITY_TYPES]
	number of constraints of each type More...

int	n_constraints
	number of current constraints More...

int	n_total_const
	number of total constraints used so far, including removed ones More...

fVec	weight [N_PRIORITY_TYPES]
	weight of each type More...

Protected Attributes inherited from Chain
double **	all_value
	Pointers to the integration variables. More...

double **	all_value_dot

double **	all_vel

double **	all_vel_dot

int	do_connect
	true after Connect() was called; application (or subclass) must reset the flag More...

int	in_create_chain
	true if between `BeginCreateChain()` and `EndCreateChain()`. More...

double *	init_value

double *	init_vel

double *	j_acc_p [4]

double *	j_value_dot [4]
	for 4-th order Runge-Kutta More...

int	n_dof

int	n_joint

int	n_thrust
	total DOF of the joints with t_given = false More...

int	n_value

Joint *	root
	Chain information. More...

std::list< scale_object >	scale_object_list

Friends
class	IKConstraint

class	IKDesire

class	IKHandle

Detailed Description

Main class for inverse kinematic computation.

Definition at line 37 of file ik.h.

Member Enumeration Documentation

enum IK::ConstIndex

Enumerator
HAVE_CONSTRAINT	with constraint
NO_CONSTRAINT	without constraint

Definition at line 66 of file ik.h.

enum IK::ConstType

Enumerator
HANDLE_CONSTRAINT	position/orientation of link
DESIRE_CONSTRAINT	desired joint values
COM_CONSTRAINT	center of mass position
SCALAR_JOINT_LIMIT_CONSTRAINT	joint limit for rotate and slide joints
IK_NUM_CONSTRAINT_TYPES

Definition at line 47 of file ik.h.

enum IK::Priority

Enumerator
HIGH_PRIORITY	strictly satisfied
HIGH_IF_POSSIBLE	strictly satisfied if possible
LOW_PRIORITY	lower priority
N_PRIORITY_TYPES

Definition at line 57 of file ik.h.

Constructor & Destructor Documentation

IK::IK ( )

Default constructor.

Definition at line 17 of file ik.cpp.

IK::~IK ( )

Destructor.

Definition at line 29 of file ik.cpp.

Member Function Documentation

IKHandle * IK::add_marker	(	const char *	marker_name,
		Joint *	parent_joint,
		const fVec3 &	abs_pos
	)

protected

Definition at line 282 of file ik.cpp.

IKHandle * IK::add_marker ( TransformNode * tn )

protected

Definition at line 125 of file ik.cpp.

int IK::AddConstraint ( IKConstraint * _constraint )

Add a new constraint.

Parameters

[in] _constraint pointer to the new constraint object

Returns: ID of the constraint

Definition at line 428 of file ik.cpp.

IKHandle * IK::AddMarker	(	const std::string &	label,
		const std::string &	linkname,
		const std::string &	charname,
		const fVec3 &	rel_pos
	)

Add new marker constraint.

Parameters

[in]	label	marker label
[in]	linkname	name of the link to which the marker is attached
[in]	charname	character name of the link
[in]	rel_pos	position of the marker in joint frame

Definition at line 244 of file ik.cpp.

IKHandle * IK::AddMarker	(	const char *	marker_name,
		Joint *	parent_joint,
		const fVec3 &	abs_pos = `0.0`
	)

Definition at line 271 of file ik.cpp.

int IK::assign_constraints ( int _n )

protected

Definition at line 402 of file ik.cpp.

int IK::calc_feedback ( )

protected

Definition at line 112 of file update_ik.cpp.

int IK::calc_jacobian ( )

protected

compute the Jacobian matrix

Definition at line 66 of file update_ik.cpp.

int IK::ConstraintID	(	ConstType	_type,
		const char *	jname
	)

Obtaint the constraint ID by its type and joint name.

Returns: constraint ID

Definition at line 493 of file ik.cpp.

int IK::ConstraintID ( int _index )

Obtaint the constraint ID by its index.

Returns: constraint ID

Definition at line 504 of file ik.cpp.

int IK::ConstraintIndex	(	ConstType	_type,
		const char *	jname
	)

Obtain the index of a constraint by its type and joint name.

Returns: index of the constraint

Definition at line 511 of file ik.cpp.

int IK::ConstraintIndex ( int _id )

Obtain the index of a constraint by its type and ID.

Returns: index of the constraint

Definition at line 522 of file ik.cpp.

int IK::copy_jacobian ( )

protected

Definition at line 125 of file update_ik.cpp.

int IK::DisableDesire ( const char * jname )

Disable desire constraint of the specific joint.

Definition at line 596 of file ik.cpp.

int IK::edit_marker	(	IKHandle *	marker,
		const char *	body_name,
		Joint *	parent_joint,
		const fVec3 &	abs_pos
	)

protected

Definition at line 306 of file ik.cpp.

int IK::EditMarker	(	IKHandle *	marker,
		const char *	body_name,
		Joint *	parent_joint,
		const fVec3 &	abs_pos = `0.0`
	)

Definition at line 295 of file ik.cpp.

int IK::EnableDesire ( const char * jname )

Enable desire constraint of the specific joint.

Definition at line 587 of file ik.cpp.

IKConstraint * IK::FindConstraint	(	ConstType	_type,
		const char *	jname,
		const char *	charname = `0`
	)

Search a constraint by constraint type and joint name.

Parameters

[in]	_type	constraint type
[in]	jname	joint name
[in]	charname	character name (optional)

Returns: pointer to the constraint

Definition at line 465 of file ik.cpp.

IKConstraint * IK::FindConstraint ( int _id )

Search a constraint by the ID

Returns: pointer to the constraint

Definition at line 483 of file ik.cpp.

double IK::GetMaxConditionNumber ( )

inline

Get maximum condition number.

Definition at line 173 of file ik.h.

int IK::init ( SceneGraph * sg )

protectedvirtual

Initialize the parameters.

Reimplemented from Chain.

Definition at line 54 of file ik.cpp.

int IK::load_markers	(	SceneGraph *	sg,
		Joint *	rj
	)

protected

Definition at line 89 of file ik.cpp.

int IK::load_markers ( TransformNode * marker_top )

protected

Definition at line 110 of file ik.cpp.

int IK::LoadMarkerXML	(	const char *	fname,
		const char *	_charname
	)

Load marker information from XML file.

int IK::myinit ( SceneGraph * sg )

protected

Definition at line 70 of file ik.cpp.

int IK::NumConstraints ( )

inline

Number of constraints.

Definition at line 77 of file ik.h.

int IK::NumConstraints ( ConstType t )

Number of constraints with specific type.

Definition at line 392 of file ik.cpp.

int IK::RemoveAllConstraints ( )

Remove all constraints.

Definition at line 454 of file ik.cpp.

int IK::RemoveConstraint ( int _id )

Remove a constraint.

Parameters

[in] _id ID of the constraint to be removed

Returns: 0 if success, -1 if failure (e.g. constraint not found)

Definition at line 439 of file ik.cpp.

int IK::ResetAllConstraints ( )

Reset all constraints.

Definition at line 532 of file ik.cpp.

int IK::ResetConstraints ( ConstType t )

Reset the constraints with the specific type.

Definition at line 540 of file ik.cpp.

int IK::save_marker	(	TransformNode *	top_tnode,
		IKHandle *	h
	)

protected

Definition at line 357 of file ik.cpp.

int IK::SaveMarkers ( const char * fname )

Definition at line 336 of file ik.cpp.

void IK::set_character_scale	(	Joint *	jnt,
		double	_scale,
		const char *	charname
	)

protected

Definition at line 623 of file ik.cpp.

void IK::SetCharacterScale	(	double	_scale,
		const char *	charname = `0`
	)

Set character scale parameter.

Definition at line 605 of file ik.cpp.

void IK::SetConstraintScale	(	double	_scale,
		const char *	charname = `0`
	)

Set constraint scale parameter.

Definition at line 614 of file ik.cpp.

int IK::SetDesireGain	(	const char *	jname,
		double	_gain
	)

Set gain of desire constraint of the specific joint.

Definition at line 578 of file ik.cpp.

int IK::SetJointWeight	(	const char *	jname,
		double	_weight
	)

Set joint weight, for single-DOF joints.

Definition at line 551 of file ik.cpp.

int IK::SetJointWeight	(	const char *	jname,
		const fVec &	_weight
	)

Set joint weight, for multiple-DOF joints.

Definition at line 565 of file ik.cpp.

void IK::SetMaxConditionNumber ( double cn )

inline

Set maximum condition number.

Definition at line 169 of file ik.h.

double IK::solve_ik ( )

protected

compute the joint velocity

Definition at line 157 of file update_ik.cpp.

double IK::Update ( double timestep )

Perform inverse kinematics computation.

Parameters

[in] timestep integration time step

Returns: the maximum condition number

Definition at line 24 of file update_ik.cpp.

double IK::Update	(	double	max_timestep,
		double	min_timestep,
		double	max_integ_error = `DEFAULT_MAX_INTEG_ERROR`
	)

Perform inverse kinematics with adaptive time step.

Definition at line 46 of file update_ik.cpp.

Friends And Related Function Documentation

friend class IKConstraint

friend

Definition at line 40 of file ik.h.

friend class IKDesire

friend

Definition at line 42 of file ik.h.

friend class IKHandle

friend

Definition at line 41 of file ik.h.

Member Data Documentation

IKConstraint** IK::constraints

protected

list of current constraints

Definition at line 230 of file ik.h.

fVec IK::fb[N_PRIORITY_TYPES]

protected

constraint error of each type

Definition at line 236 of file ik.h.

fMat IK::J[N_PRIORITY_TYPES]

protected

Jacobian matrix of each type.

Definition at line 235 of file ik.h.

fVec IK::joint_weights

protected

joint weights

Definition at line 245 of file ik.h.

double IK::max_condnum

protected

maximum condition number

Definition at line 242 of file ik.h.

int IK::n_all_const

protected

Definition at line 239 of file ik.h.

int IK::n_assigned_constraints

protected

Definition at line 232 of file ik.h.

int IK::n_const[N_PRIORITY_TYPES]

protected

number of constraints of each type

Definition at line 238 of file ik.h.

int IK::n_constraints

protected

number of current constraints

Definition at line 224 of file ik.h.

int IK::n_total_const

protected

number of total constraints used so far, including removed ones

Definition at line 227 of file ik.h.

fVec IK::weight[N_PRIORITY_TYPES]

protected

weight of each type

Definition at line 237 of file ik.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation