Inheritance diagram for robot::control::kinematics::IKOR:
Public Types | |
| typedef std::bitset< sizeof(Int)*8 | OptimizationConstraints ) |
| enum | OptimizationMethod { DefaultMethod, PseudoInv, Lagrangian, BangBang, Simplex } |
| enum | OptimizationCriterion { DefaultCriterion, LeastNorm, LeastFlow } |
| enum | OptimizationConstraint { DefaultConstraints, JointLimits, ObstacleAvoidance, Acceleration, EndEffectorImpact } |
Public Member Functions | |
| IKOR (const robot::KinematicChain &chain, const Vector &jointWeights=Vector(), bool nonHolonomicPlatformActive=false, Real platformL=0) | |
| virtual String | className () const |
| void | setFullSpaceSolver (ref< FullSpaceSolver > fsp) |
| call to use a different solver, before using solve() | |
| virtual Vector | solve (const Vector &dx, const Vector &x, const Vector &q, const base::Matrix &J, OptimizationMethod optMethod=Lagrangian, OptimizationCriterion optCriterion=LeastNorm, OptimizationConstraints optConstraints=OptimizationConstraints(JointLimits), base::Orient::Representation orientationRepresentation=base::Orient::EulerRPY) |
| Solve inverse kinematics. | |
| virtual bool | isConstraintTypeSupported (OptimizationConstraint optConstraint, OptimizationMethod optMethod=DefaultMethod, OptimizationCriterion optCriterion=DefaultCriterion) |
| query if a particular constraint type is supported by this solver for a specific method & criterion | |
| virtual void | setProximitySensorData (const array< LinkProximityData > &proximityData, Real d) |
| virtual void | setParameter (const String &name, Real value) |
| Set implementation specific parameters. Unknown names will throw a std::invald_argument exception. | |
| virtual bool | isSameKindAs (const ReferencedObject &) const |
| virtual bool | isSameKindAs (const Object &) const |
| void | reference () const |
| bool | unreference () const |
| const int | referenceCount () const |
| void | enableOnUnreferenceCall (bool enabled) |
| virtual void | onUnreference () const |
Protected Member Functions | |
| void | weightedLeastNorm (Matrix &B, Vector &dZr, Vector weights) |
| void | addDependentRowConstraints (const array< Int > &rows, const Matrix &gs, const Matrix &A, const Vector &b, ref< BetaFormConstraints > constraints) |
| void | addJointLimitConstraints (const Matrix &gs, const Vector &q, const Vector &dq, ref< BetaFormConstraints > constraints) |
| void | addNonholonomicConstraint (const Matrix &gs, const Vector &q, ref< BetaFormConstraints > constraints) |
| void | addObstacleAvoidanceConstraints (const Matrix &gs, const Vector &q, const Vector &dq, ref< BetaFormConstraints > constraints) |
Protected Attributes | |
| ref< FullSpaceSolver > | solver |
| robot::KinematicChain | chain |
| Vector | weights |
| relative weights for each joint for LeastNorm (vector of all 1s for equal weighting) | |
| bool | nonHolonomicPlatformActive |
| Real | L |
| platform parameter L - distance from origin P to center of drive axle M (see paper 2) | |
| array< LinkProximityData > | proximitySensorData |
| !! may cache the objective later, if it speeds things up | |
| Real | d |
| link obstacle proximity 'danger distance' | |
| int | _refCount |
| bool | onUnreferenceEnabled |
Definition at line 47 of file IKOR.
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Definition at line 58 of file InverseKinematicsSolver. |
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Definition at line 55 of file InverseKinematicsSolver. |
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Definition at line 54 of file InverseKinematicsSolver. |
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Definition at line 53 of file InverseKinematicsSolver. |
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return the name of the object's class type. Must be defined by derived classes. Implements base::Object. |
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If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled. |
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query if a particular constraint type is supported by this solver for a specific method & criterion
Reimplemented from robot::control::kinematics::InverseKinematicsSolver. |
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Definition at line 52 of file ReferencedObject. |
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Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference(). |
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Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount. |
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Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference(). |
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call to use a different solver, before using solve()
Definition at line 57 of file IKOR. References solver. |
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Set implementation specific parameters. Unknown names will throw a std::invald_argument exception. Valid parameters: name value description none currently Reimplemented from robot::control::kinematics::InverseKinematicsSolver. |
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set proximity sensor data (array indices correspond to parameter elements of q) d - is 'danger distance' within which a constraint becomes active Reimplemented from robot::control::kinematics::InverseKinematicsSolver. |
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Solve inverse kinematics.
Implements robot::control::kinematics::InverseKinematicsSolver. |
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Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled. |
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Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced(). |
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link obstacle proximity 'danger distance'
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platform parameter L - distance from origin P to center of drive axle M (see paper 2)
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Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference(). |
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!! may cache the objective later, if it speeds things up
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Definition at line 148 of file IKOR. Referenced by setFullSpaceSolver(). |
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relative weights for each joint for LeastNorm (vector of all 1s for equal weighting)
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1.3.6