Inverse kinematics functions. More...
#include <inverse_kinematics.h>
Public Types | |
| using | ConstPtr = std::shared_ptr< const InverseKinematics > |
| using | ConstUPtr = std::unique_ptr< const InverseKinematics > |
| using | Ptr = std::shared_ptr< InverseKinematics > |
| using | UPtr = std::unique_ptr< InverseKinematics > |
Public Member Functions | |
| virtual IKSolutions | calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const =0 |
| Calculates joint solutions given a pose for each tip link. More... | |
| virtual InverseKinematics::UPtr | clone () const =0 |
| Clone the forward kinematics object. More... | |
| virtual std::string | getBaseLinkName () const =0 |
| Get the robot base link name. More... | |
| virtual std::vector< std::string > | getJointNames () const =0 |
| Get list of joint names for kinematic object. More... | |
| virtual std::string | getSolverName () const =0 |
| Get the name of the solver. Recommend using the name of the class. More... | |
| virtual std::vector< std::string > | getTipLinkNames () const =0 |
| Get the names of the tip links of the kinematics group. More... | |
| virtual std::string | getWorkingFrame () const =0 |
| Get the inverse kinematics working frame. More... | |
| InverseKinematics ()=default | |
| InverseKinematics (const InverseKinematics &)=default | |
| InverseKinematics (InverseKinematics &&)=default | |
| virtual Eigen::Index | numJoints () const =0 |
| Number of joints in robot. More... | |
| InverseKinematics & | operator= (const InverseKinematics &)=default |
| InverseKinematics & | operator= (InverseKinematics &&)=default |
| virtual | ~InverseKinematics () |
Detailed Description
Inverse kinematics functions.
Definition at line 43 of file inverse_kinematics.h.
Member Typedef Documentation
◆ ConstPtr
| using tesseract_kinematics::InverseKinematics::ConstPtr = std::shared_ptr<const InverseKinematics> |
Definition at line 51 of file inverse_kinematics.h.
◆ ConstUPtr
| using tesseract_kinematics::InverseKinematics::ConstUPtr = std::unique_ptr<const InverseKinematics> |
Definition at line 53 of file inverse_kinematics.h.
◆ Ptr
| using tesseract_kinematics::InverseKinematics::Ptr = std::shared_ptr<InverseKinematics> |
Definition at line 50 of file inverse_kinematics.h.
◆ UPtr
| using tesseract_kinematics::InverseKinematics::UPtr = std::unique_ptr<InverseKinematics> |
Definition at line 52 of file inverse_kinematics.h.
Constructor & Destructor Documentation
◆ InverseKinematics() [1/3]
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default |
◆ ~InverseKinematics()
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virtualdefault |
◆ InverseKinematics() [2/3]
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default |
◆ InverseKinematics() [3/3]
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default |
Member Function Documentation
◆ calcInvKin()
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pure virtual |
Calculates joint solutions given a pose for each tip link.
This interface supports IK for both kinematic chains that have a single tool tip link and kinematic chains that have multiple tip links. For example, consider a robot with external part positioner: a pose can be specified to be relative to the tip link of the robot or the tip link of the positioner is to support a pose relative to a active link. For example a robot with an external positioner where the pose is relative to the tip link of the positioner.
- Note
- Redundant joint solutions can be provided by the utility function getRedundantSolutions
- Parameters
-
tip_link_poses A map of poses corresponding to each tip link provided in getTipLinkNames and relative to the working frame of the kinematics group for which to solve inverse kinematics seed Vector of seed joint angles (size must match number of joints in kinematic object)
- Returns
- A vector of solutions, If empty it failed to find a solution (including uninitialized)
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ clone()
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pure virtual |
Clone the forward kinematics object.
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ getBaseLinkName()
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pure virtual |
Get the robot base link name.
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ getJointNames()
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pure virtual |
Get list of joint names for kinematic object.
- Returns
- A vector of joint names, joint_list_
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ getSolverName()
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pure virtual |
Get the name of the solver. Recommend using the name of the class.
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ getTipLinkNames()
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pure virtual |
Get the names of the tip links of the kinematics group.
In the case of a kinematic chain, this returns one tip link; in the case of a kinematic tree this returns the tip link for each branch of the tree.
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ getWorkingFrame()
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pure virtual |
Get the inverse kinematics working frame.
This is the frame of reference in which all poses given to the calcInvKin function should be defined
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ numJoints()
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pure virtual |
Number of joints in robot.
- Returns
- Number of joints in robot
Implemented in tesseract_kinematics::URInvKin, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::KDLInvKinChainNR_JL, tesseract_kinematics::ROPInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::IKFastInvKin.
◆ operator=() [1/2]
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default |
◆ operator=() [2/2]
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default |
The documentation for this class was generated from the following files: