KDL Inverse kinematic chain implementation. More...

#include <kdl_inv_kin_chain_lma.h>

Inheritance diagram for tesseract_kinematics::KDLInvKinChainLMA:

Classes
struct	Config
	The Config struct. More...

Public Types
using	ConstPtr = std::shared_ptr< const KDLInvKinChainLMA >

using	ConstUPtr = std::unique_ptr< const KDLInvKinChainLMA >

using	Ptr = std::shared_ptr< KDLInvKinChainLMA >

using	UPtr = std::unique_ptr< KDLInvKinChainLMA >

Public Types inherited from tesseract_kinematics::InverseKinematics
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
IKSolutions	calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const override final
	Calculates joint solutions given a pose for each tip link. More...

InverseKinematics::UPtr	clone () const override final
	Clone the forward kinematics object. More...

std::string	getBaseLinkName () const override final
	Get the robot base link name. More...

std::vector< std::string >	getJointNames () const override final
	Get list of joint names for kinematic object. More...

std::string	getSolverName () const override final
	Get the name of the solver. Recommend using the name of the class. More...

std::vector< std::string >	getTipLinkNames () const override final
	Get the names of the tip links of the kinematics group. More...

std::string	getWorkingFrame () const override final
	Get the inverse kinematics working frame. More...

	KDLInvKinChainLMA (const KDLInvKinChainLMA &other)

	KDLInvKinChainLMA (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_link, const std::string &tip_link, Config kdl_config, std::string solver_name=KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME)
	Construct Inverse Kinematics as chain Creates a inverse kinematic chain object. More...

	KDLInvKinChainLMA (const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains, Config kdl_config, std::string solver_name=KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME)
	Construct Inverse Kinematics as chain Creates a inverse kinematic chain object from sequential chains. More...

	KDLInvKinChainLMA (KDLInvKinChainLMA &&)=delete

Eigen::Index	numJoints () const override final
	Number of joints in robot. More...

KDLInvKinChainLMA &	operator= (const KDLInvKinChainLMA &other)

KDLInvKinChainLMA &	operator= (KDLInvKinChainLMA &&)=delete

	~KDLInvKinChainLMA () override=default

Public Member Functions inherited from tesseract_kinematics::InverseKinematics
	InverseKinematics ()=default

	InverseKinematics (const InverseKinematics &)=default

	InverseKinematics (InverseKinematics &&)=default

InverseKinematics &	operator= (const InverseKinematics &)=default

InverseKinematics &	operator= (InverseKinematics &&)=default

virtual	~InverseKinematics ()

Private Member Functions
IKSolutions	calcInvKinHelper (const Eigen::Isometry3d &pose, const Eigen::Ref< const Eigen::VectorXd > &seed, int segment_num=-1) const
	calcFwdKin helper function More...

Private Attributes
std::unique_ptr< KDL::ChainIkSolverPos_LMA >	ik_solver_
	KDL Inverse kinematic solver. More...

Config	kdl_config_
	KDL configuration data parsed from YAML. More...

KDLChainData	kdl_data_
	KDL data parsed from Scene Graph. More...

std::mutex	mutex_
	KDL is not thread safe due to mutable variables in Joint Class. More...

std::string	solver_name_ { KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME }
	Name of this solver. More...

Detailed Description

KDL Inverse kinematic chain implementation.

Definition at line 45 of file kdl_inv_kin_chain_lma.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_kinematics::KDLInvKinChainLMA::ConstPtr = std::shared_ptr<const KDLInvKinChainLMA>

Definition at line 53 of file kdl_inv_kin_chain_lma.h.

◆ ConstUPtr

using tesseract_kinematics::KDLInvKinChainLMA::ConstUPtr = std::unique_ptr<const KDLInvKinChainLMA>

Definition at line 55 of file kdl_inv_kin_chain_lma.h.

◆ Ptr

using tesseract_kinematics::KDLInvKinChainLMA::Ptr = std::shared_ptr<KDLInvKinChainLMA>

Definition at line 52 of file kdl_inv_kin_chain_lma.h.

◆ UPtr

using tesseract_kinematics::KDLInvKinChainLMA::UPtr = std::unique_ptr<KDLInvKinChainLMA>

Definition at line 54 of file kdl_inv_kin_chain_lma.h.

Constructor & Destructor Documentation

◆ ~KDLInvKinChainLMA()

tesseract_kinematics::KDLInvKinChainLMA::~KDLInvKinChainLMA ( )

overridedefault

◆ KDLInvKinChainLMA() [1/4]

tesseract_kinematics::KDLInvKinChainLMA::KDLInvKinChainLMA ( const KDLInvKinChainLMA & other )

Definition at line 73 of file kdl_inv_kin_chain_lma.cpp.

◆ KDLInvKinChainLMA() [2/4]

tesseract_kinematics::KDLInvKinChainLMA::KDLInvKinChainLMA ( KDLInvKinChainLMA && )

delete

◆ KDLInvKinChainLMA() [3/4]

tesseract_kinematics::KDLInvKinChainLMA::KDLInvKinChainLMA	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_link,
		const std::string &	tip_link,
		Config	kdl_config,
		std::string	solver_name = `KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME`
	)

Construct Inverse Kinematics as chain Creates a inverse kinematic chain object.

Parameters

scene_graph	The Tesseract Scene Graph
base_link	The name of the base link for the kinematic chain
tip_link	The name of the tip link for the kinematic chain
solver_name	The name of the kinematic chain

Definition at line 62 of file kdl_inv_kin_chain_lma.cpp.

◆ KDLInvKinChainLMA() [4/4]

tesseract_kinematics::KDLInvKinChainLMA::KDLInvKinChainLMA	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains,
		Config	kdl_config,
		std::string	solver_name = `KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME`
	)

Construct Inverse Kinematics as chain Creates a inverse kinematic chain object from sequential chains.

Parameters

scene_graph	The Tesseract Scene Graph
chains	A vector of kinematics chains <base_link, tip_link> that get concatenated
solver_name	The solver name of the kinematic chain

Member Function Documentation

◆ calcInvKin()

IKSolutions tesseract_kinematics::KDLInvKinChainLMA::calcInvKin	(	const tesseract_common::TransformMap &	tip_link_poses,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

finaloverridevirtual

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)

Implements tesseract_kinematics::InverseKinematics.

Definition at line 137 of file kdl_inv_kin_chain_lma.cpp.

◆ calcInvKinHelper()

IKSolutions tesseract_kinematics::KDLInvKinChainLMA::calcInvKinHelper	(	const Eigen::Isometry3d &	pose,
		const Eigen::Ref< const Eigen::VectorXd > &	seed,
		int	segment_num = `-1`
	)		const

private

calcFwdKin helper function

Definition at line 90 of file kdl_inv_kin_chain_lma.cpp.

◆ clone()

InverseKinematics::UPtr tesseract_kinematics::KDLInvKinChainLMA::clone ( ) const

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 71 of file kdl_inv_kin_chain_lma.cpp.

◆ getBaseLinkName()

std::string tesseract_kinematics::KDLInvKinChainLMA::getBaseLinkName ( ) const

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 148 of file kdl_inv_kin_chain_lma.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::KDLInvKinChainLMA::getJointNames ( ) const

finaloverridevirtual

Get list of joint names for kinematic object.

Returns: A vector of joint names, joint_list_

Implements tesseract_kinematics::InverseKinematics.

Definition at line 144 of file kdl_inv_kin_chain_lma.cpp.

◆ getSolverName()

std::string tesseract_kinematics::KDLInvKinChainLMA::getSolverName ( ) const

finaloverridevirtual

Get the name of the solver. Recommend using the name of the class.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 154 of file kdl_inv_kin_chain_lma.cpp.

◆ getTipLinkNames()

std::vector< std::string > tesseract_kinematics::KDLInvKinChainLMA::getTipLinkNames ( ) const

finaloverridevirtual

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.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 152 of file kdl_inv_kin_chain_lma.cpp.

◆ getWorkingFrame()

std::string tesseract_kinematics::KDLInvKinChainLMA::getWorkingFrame ( ) const

finaloverridevirtual

Get the inverse kinematics working frame.

This is the frame of reference in which all poses given to the calcInvKin function should be defined

Implements tesseract_kinematics::InverseKinematics.

Definition at line 150 of file kdl_inv_kin_chain_lma.cpp.

◆ numJoints()

Eigen::Index tesseract_kinematics::KDLInvKinChainLMA::numJoints ( ) const

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

Definition at line 146 of file kdl_inv_kin_chain_lma.cpp.

◆ operator=() [1/2]

KDLInvKinChainLMA & tesseract_kinematics::KDLInvKinChainLMA::operator= ( const KDLInvKinChainLMA & other )

Definition at line 75 of file kdl_inv_kin_chain_lma.cpp.

◆ operator=() [2/2]

KDLInvKinChainLMA& tesseract_kinematics::KDLInvKinChainLMA::operator= ( KDLInvKinChainLMA && )

delete

Member Data Documentation

◆ ik_solver_

std::unique_ptr<KDL::ChainIkSolverPos_LMA> tesseract_kinematics::KDLInvKinChainLMA::ik_solver_

private

KDL Inverse kinematic solver.

Definition at line 119 of file kdl_inv_kin_chain_lma.h.

◆ kdl_config_

Config tesseract_kinematics::KDLInvKinChainLMA::kdl_config_

private

KDL configuration data parsed from YAML.

Definition at line 118 of file kdl_inv_kin_chain_lma.h.

◆ kdl_data_

KDLChainData tesseract_kinematics::KDLInvKinChainLMA::kdl_data_

private

KDL data parsed from Scene Graph.

Definition at line 117 of file kdl_inv_kin_chain_lma.h.

◆ mutex_

std::mutex tesseract_kinematics::KDLInvKinChainLMA::mutex_

mutableprivate

KDL is not thread safe due to mutable variables in Joint Class.

Definition at line 121 of file kdl_inv_kin_chain_lma.h.

◆ solver_name_

std::string tesseract_kinematics::KDLInvKinChainLMA::solver_name_ { KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME }

private

Name of this solver.

Definition at line 120 of file kdl_inv_kin_chain_lma.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~KDLInvKinChainLMA()

◆ KDLInvKinChainLMA() [1/4]

◆ KDLInvKinChainLMA() [2/4]

◆ KDLInvKinChainLMA() [3/4]

◆ KDLInvKinChainLMA() [4/4]

Member Function Documentation

◆ calcInvKin()

◆ calcInvKinHelper()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ getWorkingFrame()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ ik_solver_

◆ kdl_config_

◆ kdl_data_

◆ mutex_

◆ solver_name_