robot::control::kinematics::OldIKOR Class Reference

wrapper for old IKORv2 inverse kinematics code. More...

Inheritance diagram for robot::control::kinematics::OldIKOR:

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

[legend]List of all members.


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
	OldIKOR (const robot::KinematicChain &chain, bool platformActive=false)
virtual String	className () const
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 void	setParameter (const String &name, Real value)
	Set implementation specific parameters. Unknown names will throw a std::invald_argument exception.
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 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 Attributes
robot::KinematicChain	chain
bool	platformActive
int	_refCount
bool	onUnreferenceEnabled

Detailed Description

wrapper for old IKORv2 inverse kinematics code.

Definition at line 40 of file OldIKOR.

Member Typedef Documentation

typedef std::bitset<sizeof(Int)*8 robot::control::kinematics::InverseKinematicsSolver::OptimizationConstraints) [inherited]

Definition at line 58 of file InverseKinematicsSolver.

Member Enumeration Documentation

enum robot::control::kinematics::InverseKinematicsSolver::OptimizationConstraint [inherited]

Enumeration values:

DefaultConstraints

JointLimits

ObstacleAvoidance

Acceleration

EndEffectorImpact

Definition at line 55 of file InverseKinematicsSolver.

enum robot::control::kinematics::InverseKinematicsSolver::OptimizationCriterion [inherited]

Enumeration values:

DefaultCriterion

LeastNorm

LeastFlow

Definition at line 54 of file InverseKinematicsSolver.

enum robot::control::kinematics::InverseKinematicsSolver::OptimizationMethod [inherited]

Enumeration values:

DefaultMethod

PseudoInv

Lagrangian

BangBang

Simplex

Definition at line 53 of file InverseKinematicsSolver.

Constructor & Destructor Documentation

robot::control::kinematics::OldIKOR::OldIKOR ( const robot::KinematicChain & chain,

bool platformActive = false

)

Member Function Documentation

virtual String robot::control::kinematics::OldIKOR::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 45 of file OldIKOR.

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 bool robot::control::kinematics::InverseKinematicsSolver::isConstraintTypeSupported ( OptimizationConstraint optConstraint,

OptimizationMethod optMethod = DefaultMethod,

OptimizationCriterion optCriterion = DefaultCriterion

) [inline, virtual, inherited]

query if a particular constraint type is supported by this solver for a specific method & criterion

Reimplemented in robot::control::kinematics::IKOR.
Definition at line 110 of file InverseKinematicsSolver.

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 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::OldIKOR::setParameter ( const String & name,

Real value

) [virtual]

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.

virtual void robot::control::kinematics::InverseKinematicsSolver::setProximitySensorData ( const array< LinkProximityData > & proximityData,

Real d

) [inline, virtual, inherited]

set proximity sensor data (array indices correspond to parameter elements of q) d - is 'danger distance' within which a constraint becomes active
Reimplemented in robot::control::kinematics::IKOR.
Definition at line 130 of file InverseKinematicsSolver.

virtual Vector robot::control::kinematics::OldIKOR::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

) [virtual]

Solve inverse kinematics.
(see InverseKinematicsSolver for parameters)
Parameters:

solver ignored. The old IKORv2 FSP solver is (implicitly) used.

Implements robot::control::kinematics::InverseKinematicsSolver.

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.