robot::control::kinematics::IKORController Class Reference

IKOR (Inverse Kinematics On Redundant systems) Controller. More...

Inheritance diagram for robot::control::kinematics::IKORController:

[legend]Collaboration diagram for robot::control::kinematics::IKORController:

[legend]List of all members.

Public Types
enum	IKMethod { LeastNorm, FSPLagrangian }
Public Member Functions
	IKORController (IKMethod method, ref< robot::Robot > robot, Int manipulatorIndex, bool platformActive=false, bool orientationControl=true, base::Orient::Representation orientationRepresentation=base::Orient::EulerRPY)
virtual String	className () const
virtual void	setControlInterface (ref< ControlInterface > controlInterface)
	Requires a "JointPositionControl" ControlInterface type.
virtual bool	isConnected () const
virtual bool	iterate (const base::Time &time)
virtual array< std::pair< String, String > >	controlInterfaces () const
virtual ref< ControlInterface >	getControlInterface (String interfaceName="") throw (std::invalid_argument)
	Provide ControlInterface for named interface (or default/possibly-only interface).
void	setProximityDangerDistance (Real d)
	proximity distance below which obstacle avoidance constraints become active
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	calcEEPositionOrientation ()
	Calculate the End-Effector position and orientation from the forward kinematics transform.
Protected Attributes
IKMethod	method
	Inverse Kinematics method to employ (e.g. FSP).
ref< const robot::Robot >	robot
	Robot to be controlled.
bool	platformActive
	consider first dof(s) to be the platform?
bool	orientationControl
	position & orientation control of EE, or just position control?
base::Orient::Representation	orientRep
	representation of the orientation components of the interface inputs/outputs
robot::KinematicChain	manipChain
	kinematic chain of the manipulator (without any tools)
Real	d
ref< InverseKinematicsSolver >	ikSolver
	Solvers to use for computing IK.
InverseKinematicsSolver::OptimizationMethod	optMethod
InverseKinematicsSolver::OptimizationCriterion	optCriterion
InverseKinematicsSolver::OptimizationConstraints	optConstraints
Vector	tx
	requested target End-Effector position
Vector	x
	temporary to hold last computed EE position/orient
Vector	q
	corresponding joint variables for posEE
ref< ControlInterface >	manipulatorInterface
	position ControlInterface for manipulator
ref< ControlInterface >	proxInterface
	proximity sensor interface (or 0)
Vector	linkPositions
	positions of origins of each link (3*M components - i.e. (x,y,z)*M )
int	_refCount
bool	onUnreferenceEnabled
Static Protected Attributes
array< String >	inputName
	name of EEPositionControlInterface inputs
array< String >	outputName
	name of EEPositionControlInterface outputs
Friends
class	EEPositionControlInterface

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Detailed Description

IKOR (Inverse Kinematics On Redundant systems) Controller.

An inverse kinematics controller for redundant manipulators. Can use either a least norm solution method (without constraints) or the Full Space Parameterization (FSP) method (with a selection of optimization method, criteria and constraints).

Requires the following ControlInterface (:type)

:JointPositionControl

• outputs control the position of a maniulators joints (angle for revolute joints and extension for prismatic joints)

Provides the following ControlInterfaces (name:type)

manipulatorEEPosition:EndEffectorPositionControl

• outputs control the position (and possibly orientation) of the manipulator end-effector (through inverse kinematics). Inputs give the current EE position.

manipulatorLinkPositions:LinkOriginPositions

• inputs provide the position of the manipulator link origins

Definition at line 63 of file IKORController.

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Member Enumeration Documentation

enum robot::control::kinematics::IKORController::IKMethod

Enumeration values: LeastNorm  FSPLagrangian  Definition at line 66 of file IKORController.

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Constructor & Destructor Documentation

robot::control::kinematics::IKORController::IKORController (  IKMethod  method, ref< robot::Robot >  robot, Int  manipulatorIndex, bool  platformActive = false, bool  orientationControl = true, base::Orient::Representation  orientationRepresentation = base::Orient::EulerRPY )

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Member Function Documentation

void robot::control::kinematics::IKORController::calcEEPositionOrientation (   )  [protected]

Calculate the End-Effector position and orientation from the forward kinematics transform. caches q & x. Representation of orientation component is orientRep

virtual String robot::control::kinematics::IKORController::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 72 of file IKORController.

virtual array<std::pair<String,String> > robot::control::kinematics::IKORController::controlInterfaces (   )  const [virtual]

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual ref<ControlInterface> robot::control::kinematics::IKORController::getControlInterface (  String  interfaceName = ""  )  throw (std::invalid_argument) [virtual]

Provide ControlInterface for named interface (or default/possibly-only interface). Exceptions: std::invalid_argument  if the specified interface name is unknown. Implements robot::Controllable.

virtual bool robot::control::kinematics::IKORController::isConnected (   )  const [inline, virtual]

Query if the Controller has been passed all the ControlInterfaces it needs via setControlInterface() Reimplemented from robot::Controller. Definition at line 78 of file IKORController. References manipulatorInterface.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual bool robot::control::kinematics::IKORController::iterate (  const base::Time &  time  )  [virtual]

Execute an iteration of the control loop. returns true if it wants to quit the loop - however this may be ignored by the user/caller. Implements robot::Controller.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

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().

void base::Referenced::reference (   )  const [inline, inherited]

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.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

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().

virtual void robot::control::kinematics::IKORController::setControlInterface (  ref< ControlInterface >  controlInterface  )  [virtual]

Requires a "JointPositionControl" ControlInterface type. Implements robot::Controller.

void robot::control::kinematics::IKORController::setProximityDangerDistance (  Real  d  )  [inline]

proximity distance below which obstacle avoidance constraints become active Definition at line 87 of file IKORController.

bool base::Referenced::unreference (   )  const [inline, inherited]

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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Friends And Related Function Documentation

friend class EEPositionControlInterface [friend]

Definition at line 182 of file IKORController.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

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().

Real robot::control::kinematics::IKORController::d [protected]

Definition at line 98 of file IKORController.

ref<InverseKinematicsSolver> robot::control::kinematics::IKORController::ikSolver [protected]

Solvers to use for computing IK. Definition at line 101 of file IKORController.

array<String> robot::control::kinematics::IKORController::inputName [static, protected]

name of EEPositionControlInterface inputs Definition at line 177 of file IKORController.

Vector robot::control::kinematics::IKORController::linkPositions [mutable, protected]

positions of origins of each link (3*M components - i.e. (x,y,z)*M ) Definition at line 174 of file IKORController.

robot::KinematicChain robot::control::kinematics::IKORController::manipChain [protected]

kinematic chain of the manipulator (without any tools) Definition at line 96 of file IKORController.

ref<ControlInterface> robot::control::kinematics::IKORController::manipulatorInterface [protected]

position ControlInterface for manipulator Definition at line 109 of file IKORController. Referenced by isConnected().

IKMethod robot::control::kinematics::IKORController::method [protected]

Inverse Kinematics method to employ (e.g. FSP). Definition at line 90 of file IKORController.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

InverseKinematicsSolver::OptimizationConstraints robot::control::kinematics::IKORController::optConstraints [protected]

Definition at line 104 of file IKORController.

InverseKinematicsSolver::OptimizationCriterion robot::control::kinematics::IKORController::optCriterion [protected]

Definition at line 103 of file IKORController.

InverseKinematicsSolver::OptimizationMethod robot::control::kinematics::IKORController::optMethod [protected]

Definition at line 102 of file IKORController.

bool robot::control::kinematics::IKORController::orientationControl [protected]

position & orientation control of EE, or just position control? Definition at line 93 of file IKORController.

base::Orient::Representation robot::control::kinematics::IKORController::orientRep [protected]

representation of the orientation components of the interface inputs/outputs Definition at line 94 of file IKORController.

array<String> robot::control::kinematics::IKORController::outputName [static, protected]

name of EEPositionControlInterface outputs Definition at line 178 of file IKORController.

bool robot::control::kinematics::IKORController::platformActive [protected]

consider first dof(s) to be the platform? Definition at line 92 of file IKORController.

ref<ControlInterface> robot::control::kinematics::IKORController::proxInterface [protected]

proximity sensor interface (or 0) Definition at line 110 of file IKORController.

Vector robot::control::kinematics::IKORController::q [mutable, protected]

corresponding joint variables for posEE Definition at line 107 of file IKORController.

ref<const robot::Robot> robot::control::kinematics::IKORController::robot [protected]

Robot to be controlled. Definition at line 91 of file IKORController.

Vector robot::control::kinematics::IKORController::tx [protected]

requested target End-Effector position Definition at line 105 of file IKORController.

Vector robot::control::kinematics::IKORController::x [mutable, protected]

temporary to hold last computed EE position/orient Definition at line 106 of file IKORController.

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

• robot/control/kinematics/IKORController

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