Kinematics utility functions. More...
#include <tesseract_common/macros.h>#include <Eigen/Core>#include <Eigen/Geometry>#include <console_bridge/console.h>#include <tesseract_common/utils.h>#include <tesseract_common/kinematic_limits.h>
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Classes | |
| struct | tesseract_kinematics::Manipulability |
| Contains both manipulability ellipsoid and force ellipsoid data. More... | |
| struct | tesseract_kinematics::ManipulabilityEllipsoid |
| Used to store Manipulability and Force Ellipsoid data. More... | |
Namespaces | |
| tesseract_kinematics | |
Typedefs | |
| template<typename FloatType > | |
| using | tesseract_kinematics::VectorX = Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > |
Functions | |
| Manipulability | tesseract_kinematics::calcManipulability (const Eigen::Ref< const Eigen::MatrixXd > &jacobian) |
| Calculate manipulability data about the provided jacobian. More... | |
| bool | tesseract_kinematics::dampedPInv (const Eigen::Ref< const Eigen::MatrixXd > &A, Eigen::Ref< Eigen::MatrixXd > P, double eps=0.011, double lambda=0.01) |
| Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More... | |
| template<typename FloatType > | |
| std::vector< VectorX< FloatType > > | tesseract_kinematics::getRedundantSolutions (const Eigen::Ref< const VectorX< FloatType >> &sol, const Eigen::MatrixX2d &limits, const std::vector< Eigen::Index > &redundancy_capable_joints) |
| Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions. More... | |
| template<typename FloatType > | |
| void | tesseract_kinematics::getRedundantSolutionsHelper (std::vector< VectorX< FloatType >> &redundant_sols, const Eigen::Ref< const Eigen::VectorXd > &sol, const Eigen::MatrixX2d &limits, std::vector< Eigen::Index >::const_iterator current_index, std::vector< Eigen::Index >::const_iterator end_index) |
| This a recursive function for calculating all permutations of the redundant solutions. More... | |
| template<typename FloatType > | |
| void | tesseract_kinematics::harmonizeTowardMedian (Eigen::Ref< VectorX< FloatType >> qs, const std::vector< Eigen::Index > &redundancy_capable_joints, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &position_limits) |
| This takes the array of floats and modifies them in place to be between [-PI, PI] relative to limits median. More... | |
| template<typename FloatType > | |
| void | tesseract_kinematics::harmonizeTowardZero (Eigen::Ref< VectorX< FloatType >> qs, const std::vector< Eigen::Index > &redundancy_capable_joints) |
| This takes an array of floats and modifies them in place to be between [-PI, PI]. More... | |
| bool | tesseract_kinematics::isNearSingularity (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, double threshold=0.01) |
| Check if the provided jacobian is near a singularity. More... | |
| template<typename FloatType > | |
| bool | tesseract_kinematics::isValid (const std::array< FloatType, 6 > &qs) |
| Given a vector of floats, this check if they are finite. More... | |
| void | tesseract_kinematics::numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const JointGroup &joint_group, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point) |
| Numerically calculate a jacobian. This is mainly used for testing. More... | |
| void | tesseract_kinematics::numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const tesseract_kinematics::ForwardKinematics &kin, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point) |
| Numerically calculate a jacobian. This is mainly used for testing. More... | |
| bool | tesseract_kinematics::solvePInv (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, Eigen::Ref< Eigen::VectorXd > x) |
| Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More... | |
Detailed Description
Kinematics utility functions.
- Date
- April 15, 2018
- Version
- TODO
- Bug:
- No known bugs
- Copyright
- Copyright (c) 2013, Southwest Research Institute
- License
- Software License Agreement (Apache License)
- Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
Definition in file utils.h.