#include <kinematic_group.h>

Inheritance diagram for tesseract_kinematics::KinematicGroup:

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

using	ConstUPtr = std::unique_ptr< const KinematicGroup >

using	Ptr = std::shared_ptr< KinematicGroup >

using	UPtr = std::unique_ptr< KinematicGroup >

Public Types inherited from tesseract_kinematics::JointGroup
using	ConstPtr = std::shared_ptr< const JointGroup >

using	ConstUPtr = std::unique_ptr< const JointGroup >

using	Ptr = std::shared_ptr< JointGroup >

using	UPtr = std::unique_ptr< JointGroup >

Public Member Functions
IKSolutions	calcInvKin (const KinGroupIKInput &tip_link_pose, const Eigen::Ref< const Eigen::VectorXd > &seed) const
	Calculates joint solutions given a pose. More...

IKSolutions	calcInvKin (const KinGroupIKInputs &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const
	Calculates joint solutions given a pose. More...

std::vector< std::string >	getAllPossibleTipLinkNames () const
	Get the tip link name. More...

std::vector< std::string >	getAllValidWorkingFrames () const
	Returns all possible working frames in which goal poses can be defined. More...

const InverseKinematics &	getInverseKinematics () const
	Get the inverse kinematics sovler. More...

	KinematicGroup (const KinematicGroup &other)

	KinematicGroup (KinematicGroup &&)=default

	KinematicGroup (std::string name, std::vector< std::string > joint_names, std::unique_ptr< InverseKinematics > inv_kin, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state)
	Create a kinematics group with inverse kinematics. More...

KinematicGroup &	operator= (const KinematicGroup &other)

KinematicGroup &	operator= (KinematicGroup &&)=default

	~KinematicGroup () override

Public Member Functions inherited from tesseract_kinematics::JointGroup
tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const
	Calculates tool pose of robot chain. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &base_link_name, const std::string &link_name) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &base_link_name, const std::string &link_name, const Eigen::Vector3d &link_point) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name) const
	Calculated jacobian of robot given joint angles. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name, const Eigen::Vector3d &link_point) const
	Calculated jacobian of robot given joint angles. More...

bool	checkJoints (const Eigen::Ref< const Eigen::VectorXd > &vec) const
	Check for consistency in # and limits of joints. More...

std::vector< std::string >	getActiveLinkNames () const
	Get list of active link names (with and without geometry) for kinematic object. More...

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

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

tesseract_common::KinematicLimits	getLimits () const
	Get the kinematic limits (joint, velocity, acceleration, etc.) More...

std::vector< std::string >	getLinkNames () const
	Get list of all link names (with and without geometry) for kinematic object. More...

std::string	getName () const
	Name of the manipulator. More...

std::vector< Eigen::Index >	getRedundancyCapableJointIndices () const
	Get vector indicating which joints are capable of producing redundant solutions. More...

std::vector< std::string >	getStaticLinkNames () const
	Get list of static link names (with and without geometry) for kinematic object. More...

bool	hasLinkName (const std::string &link_name) const
	Check if link name exists. More...

bool	isActiveLinkName (const std::string &link_name) const
	Check if link is an active link. More...

	JointGroup (const JointGroup &other)

	JointGroup (JointGroup &&)=default

	JointGroup (std::string name, std::vector< std::string > joint_names, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state)
	Create a kinematics group without inverse kinematics for the provided joint names. More...

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

JointGroup &	operator= (const JointGroup &other)

JointGroup &	operator= (JointGroup &&)=default

void	setLimits (const tesseract_common::KinematicLimits &limits)
	Setter for kinematic limits (joint, velocity, acceleration, etc.) More...

virtual	~JointGroup ()

Private Attributes
std::unique_ptr< InverseKinematics >	inv_kin_

std::vector< Eigen::Index >	inv_kin_joint_map_

std::unordered_map< std::string, std::string >	inv_tip_links_map_

Eigen::Isometry3d	inv_to_fwd_base_ { Eigen::Isometry3d::Identity() }

std::vector< std::string >	joint_names_

bool	reorder_required_ { false }

std::vector< std::string >	working_frames_

Additional Inherited Members
Protected Attributes inherited from tesseract_kinematics::JointGroup
std::vector< Eigen::Index >	jacobian_map_

std::vector< std::string >	joint_names_

tesseract_common::KinematicLimits	limits_

std::vector< std::string >	link_names_

std::string	name_

std::vector< Eigen::Index >	redundancy_indices_

tesseract_scene_graph::SceneState	state_

std::unique_ptr< tesseract_scene_graph::StateSolver >	state_solver_

std::vector< std::string >	static_link_names_

tesseract_common::TransformMap	static_link_transforms_

Detailed Description

Definition at line 75 of file kinematic_group.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 83 of file kinematic_group.h.

◆ ConstUPtr

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

Definition at line 85 of file kinematic_group.h.

◆ Ptr

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

Definition at line 82 of file kinematic_group.h.

◆ UPtr

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

Definition at line 84 of file kinematic_group.h.

Constructor & Destructor Documentation

◆ ~KinematicGroup()

tesseract_kinematics::KinematicGroup::~KinematicGroup ( )

overridedefault

◆ KinematicGroup() [1/3]

tesseract_kinematics::KinematicGroup::KinematicGroup ( const KinematicGroup & other )

Definition at line 193 of file kinematic_group.cpp.

◆ KinematicGroup() [2/3]

tesseract_kinematics::KinematicGroup::KinematicGroup ( KinematicGroup && )

default

◆ KinematicGroup() [3/3]

tesseract_kinematics::KinematicGroup::KinematicGroup	(	std::string	name,
		std::vector< std::string >	joint_names,
		std::unique_ptr< InverseKinematics >	inv_kin,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state
	)

Create a kinematics group with inverse kinematics.

Parameters

name	The name of the kinematic group
inv_kin	The inverse kinematics object to create kinematic group from
scene_graph	The scene graph
scene_state	The scene state

Definition at line 106 of file kinematic_group.cpp.

Member Function Documentation

◆ calcInvKin() [1/2]

IKSolutions tesseract_kinematics::KinematicGroup::calcInvKin	(	const KinGroupIKInput &	tip_link_pose,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

Calculates joint solutions given a pose.

If redundant solutions are needed see utility function getRedundantSolutions.

Parameters

tip_link_pose	The input information to solve inverse kinematics for. This is a convenience function for when only one tip link exists
seed	Vector of seed joint angles (size must match number of joints in robot chain)

Returns: A vector of solutions, If empty it failed to find a solution (including uninitialized)

Definition at line 301 of file kinematic_group.cpp.

◆ calcInvKin() [2/2]

IKSolutions tesseract_kinematics::KinematicGroup::calcInvKin	(	const KinGroupIKInputs &	tip_link_poses,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

Calculates joint solutions given a pose.

If redundant solutions are needed see utility function getRedundantSolutions.

Parameters

tip_link_poses	The input information to solve inverse kinematics for. There must be an input for each link provided in getTipLinkNames
seed	Vector of seed joint angles (size must match number of joints in robot chain)

Returns: A vector of solutions, If empty it failed to find a solution (including uninitialized)

Definition at line 210 of file kinematic_group.cpp.

◆ getAllPossibleTipLinkNames()

std::vector< std::string > tesseract_kinematics::KinematicGroup::getAllPossibleTipLinkNames ( ) const

Get the tip link name.

The inverse kinematics solver requires that all poses be solved for a set of tip link frames that terminate a kinematic chain or tree. In the case of some closed-form IK solvers, this tip link must the tool flange of the robot rather than another preferred link. If the desired tip link is a statically connected child of the required IK solver tip link, then the target IK pose can be transformed into a target pose for the IK solver tip link. This function identifies all possible tip links that can be used for IK (i.e. static child links of the IK solver tip link(s)) and internally performs the appropriate transformations when solving IK

Definition at line 309 of file kinematic_group.cpp.

◆ getAllValidWorkingFrames()

std::vector< std::string > tesseract_kinematics::KinematicGroup::getAllValidWorkingFrames ( ) const

Returns all possible working frames in which goal poses can be defined.

The inverse kinematics solver requires that all poses be defined relative to a single working frame. However if this working frame is static, a pose can be defined in another static frame in the environment and transformed into the IK solver working frame. Similarly if the working frame is an active link (e.g. attached to a part positioner), a target pose can also be defined relative to any child link of the working frame and transformed into the IK solver working frame. This function identifies all of these other possible working frames and performs the appropriate transformations internally when solving IK.

Definition at line 307 of file kinematic_group.cpp.

◆ getInverseKinematics()

const InverseKinematics & tesseract_kinematics::KinematicGroup::getInverseKinematics ( ) const

Get the inverse kinematics sovler.

Returns: The inverse kinematics solver

Definition at line 319 of file kinematic_group.cpp.

◆ operator=() [1/2]

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

Definition at line 197 of file kinematic_group.cpp.

◆ operator=() [2/2]

KinematicGroup& tesseract_kinematics::KinematicGroup::operator= ( KinematicGroup && )

default

Member Data Documentation

◆ inv_kin_

std::unique_ptr<InverseKinematics> tesseract_kinematics::KinematicGroup::inv_kin_

private

Definition at line 156 of file kinematic_group.h.

◆ inv_kin_joint_map_

std::vector<Eigen::Index> tesseract_kinematics::KinematicGroup::inv_kin_joint_map_

private

Definition at line 155 of file kinematic_group.h.

◆ inv_tip_links_map_

std::unordered_map<std::string, std::string> tesseract_kinematics::KinematicGroup::inv_tip_links_map_

private

Definition at line 159 of file kinematic_group.h.

◆ inv_to_fwd_base_

Eigen::Isometry3d tesseract_kinematics::KinematicGroup::inv_to_fwd_base_ { Eigen::Isometry3d::Identity() }

private

Definition at line 157 of file kinematic_group.h.

◆ joint_names_

std::vector<std::string> tesseract_kinematics::KinematicGroup::joint_names_

private

Definition at line 153 of file kinematic_group.h.

◆ reorder_required_

bool tesseract_kinematics::KinematicGroup::reorder_required_ { false }

private

Definition at line 154 of file kinematic_group.h.

◆ working_frames_

std::vector<std::string> tesseract_kinematics::KinematicGroup::working_frames_

private

Definition at line 158 of file kinematic_group.h.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~KinematicGroup()

◆ KinematicGroup() [1/3]

◆ KinematicGroup() [2/3]

◆ KinematicGroup() [3/3]

Member Function Documentation

◆ calcInvKin() [1/2]

◆ calcInvKin() [2/2]

◆ getAllPossibleTipLinkNames()

◆ getAllValidWorkingFrames()

◆ getInverseKinematics()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ inv_kin_

◆ inv_kin_joint_map_

◆ inv_tip_links_map_

◆ inv_to_fwd_base_

◆ joint_names_

◆ reorder_required_

◆ working_frames_