Universal Robot Inverse Kinematics Implementation. More...

#include <ur_inv_kin.h>

Inheritance diagram for tesseract_kinematics::URInvKin:

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

using	ConstUPtr = std::unique_ptr< const URInvKin >

using	Ptr = std::shared_ptr< URInvKin >

using	UPtr = std::unique_ptr< URInvKin >

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
tesseract_kinematics::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...

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

URInvKin &	operator= (const URInvKin &other)

URInvKin &	operator= (URInvKin &&)=default

	URInvKin (const URInvKin &other)

	URInvKin (URInvKin &&)=default

	URInvKin (URParameters params, std::string base_link_name, std::string tip_link_name, std::vector< std::string > joint_names, std::string solver_name=UR_INV_KIN_CHAIN_SOLVER_NAME)
	init Initialize UR Inverse Kinematics More...

	~URInvKin () 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 ()

Protected Attributes
std::string	base_link_name_
	Link name of first link in the kinematic object. More...

std::vector< std::string >	joint_names_
	Joint names for the kinematic object. More...

URParameters	params_
	The UR Inverse kinematics parameters. More...

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

std::string	tip_link_name_
	Link name of last kink in the kinematic object. More...

Detailed Description

Universal Robot Inverse Kinematics Implementation.

Definition at line 85 of file ur_inv_kin.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 93 of file ur_inv_kin.h.

◆ ConstUPtr

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

Definition at line 95 of file ur_inv_kin.h.

◆ Ptr

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

Definition at line 92 of file ur_inv_kin.h.

◆ UPtr

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

Definition at line 94 of file ur_inv_kin.h.

Constructor & Destructor Documentation

◆ ~URInvKin()

tesseract_kinematics::URInvKin::~URInvKin ( )

overridedefault

◆ URInvKin() [1/3]

tesseract_kinematics::URInvKin::URInvKin ( const URInvKin & other )

Definition at line 242 of file ur_inv_kin.cpp.

◆ URInvKin() [2/3]

tesseract_kinematics::URInvKin::URInvKin ( URInvKin && )

default

◆ URInvKin() [3/3]

tesseract_kinematics::URInvKin::URInvKin	(	URParameters	params,
		std::string	base_link_name,
		std::string	tip_link_name,
		std::vector< std::string >	joint_names,
		std::string	solver_name = `UR_INV_KIN_CHAIN_SOLVER_NAME`
	)

init Initialize UR Inverse Kinematics

Parameters

params	UR kinematics parameters
base_link_name	The name of the base link for the kinematic chain
tip_link_name	The name of the tip link for the kinematic chain
joint_names	The joint names for the kinematic chain
solver_name	The solver name of the kinematic chain

Definition at line 225 of file ur_inv_kin.cpp.

Member Function Documentation

◆ calcInvKin()

IKSolutions tesseract_kinematics::URInvKin::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 255 of file ur_inv_kin.cpp.

◆ clone()

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

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 240 of file ur_inv_kin.cpp.

◆ getBaseLinkName()

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

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

Definition at line 289 of file ur_inv_kin.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::URInvKin::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 288 of file ur_inv_kin.cpp.

◆ getSolverName()

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

finaloverridevirtual

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

Implements tesseract_kinematics::InverseKinematics.

Definition at line 292 of file ur_inv_kin.cpp.

◆ getTipLinkNames()

std::vector< std::string > tesseract_kinematics::URInvKin::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 291 of file ur_inv_kin.cpp.

◆ getWorkingFrame()

std::string tesseract_kinematics::URInvKin::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 290 of file ur_inv_kin.cpp.

◆ numJoints()

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

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

Definition at line 287 of file ur_inv_kin.cpp.

◆ operator=() [1/2]

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

Definition at line 244 of file ur_inv_kin.cpp.

◆ operator=() [2/2]

URInvKin& tesseract_kinematics::URInvKin::operator= ( URInvKin && )

default

Member Data Documentation

◆ base_link_name_

std::string tesseract_kinematics::URInvKin::base_link_name_

protected

Link name of first link in the kinematic object.

Definition at line 130 of file ur_inv_kin.h.

◆ joint_names_

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

protected

Joint names for the kinematic object.

Definition at line 132 of file ur_inv_kin.h.

◆ params_

URParameters tesseract_kinematics::URInvKin::params_

protected

The UR Inverse kinematics parameters.

Definition at line 129 of file ur_inv_kin.h.

◆ solver_name_

std::string tesseract_kinematics::URInvKin::solver_name_ { UR_INV_KIN_CHAIN_SOLVER_NAME }

protected

Name of this solver.

Definition at line 133 of file ur_inv_kin.h.

◆ tip_link_name_

std::string tesseract_kinematics::URInvKin::tip_link_name_

protected

Link name of last kink in the kinematic object.

Definition at line 131 of file ur_inv_kin.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~URInvKin()

◆ URInvKin() [1/3]

◆ URInvKin() [2/3]

◆ URInvKin() [3/3]

Member Function Documentation

◆ calcInvKin()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ getWorkingFrame()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ base_link_name_

◆ joint_names_

◆ params_

◆ solver_name_

◆ tip_link_name_