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Contains roboticslab::ICartesianControl and related vocabs. +More...
+ +Go to the source code of this file.
++Classes | |
| class | roboticslab::ICartesianControl |
| Abstract base class for a cartesian controller. More... | |
+Namespaces | |
| roboticslab | |
| The main, catch-all namespace for Robotics Lab UC3M. | |
+Variables | |
General-purpose vocabs | |
Used in acknowledge responses, configuration accessors, etc.. + | |
| +constexpr int | VOCAB_CC_OK = yarp::os::createVocab32('o','k') |
| Success. | |
| +constexpr int | VOCAB_CC_FAILED = yarp::os::createVocab32('f','a','i','l') |
| Failure. | |
| +constexpr int | VOCAB_CC_SET = yarp::os::createVocab32('s','e','t') |
| Setter. | |
| +constexpr int | VOCAB_CC_GET = yarp::os::createVocab32('g','e','t') |
| Getter. | |
| +constexpr int | VOCAB_CC_NOT_SET = yarp::os::createVocab32('n','s','e','t') |
| State: not set. | |
RPC vocabs | |
Used by RPC commands in roboticslab::ICartesianControl. + | |
| +constexpr int | VOCAB_CC_STAT = yarp::os::createVocab32('s','t','a','t') |
| Current state and position. | |
| +constexpr int | VOCAB_CC_INV = yarp::os::createVocab32('i','n','v') |
| Inverse kinematics. | |
| +constexpr int | VOCAB_CC_MOVJ = yarp::os::createVocab32('m','o','v','j') |
| Move in joint space, absolute coordinates. | |
| +constexpr int | VOCAB_CC_RELJ = yarp::os::createVocab32('r','e','l','j') |
| Move in joint space, relative coordinates. | |
| +constexpr int | VOCAB_CC_MOVL = yarp::os::createVocab32('m','o','v','l') |
| Linear move to target position. | |
| +constexpr int | VOCAB_CC_MOVV = yarp::os::createVocab32('m','o','v','v') |
| Linear move with given velocity. | |
| +constexpr int | VOCAB_CC_GCMP = yarp::os::createVocab32('g','c','m','p') |
| Gravity compensation. | |
| +constexpr int | VOCAB_CC_FORC = yarp::os::createVocab32('f','o','r','c') |
| Force control. | |
| +constexpr int | VOCAB_CC_STOP = yarp::os::createVocab32('s','t','o','p') |
| Stop control. | |
| +constexpr int | VOCAB_CC_WAIT = yarp::os::createVocab32('w','a','i','t') |
| Wait motion done. | |
| +constexpr int | VOCAB_CC_TOOL = yarp::os::createVocab32('t','o','o','l') |
| Change tool. | |
| +constexpr int | VOCAB_CC_ACT = yarp::os::createVocab32('a','c','t') |
| Actuate tool. | |
Streaming vocabs | |
Used by streaming commands in roboticslab::ICartesianControl. + | |
| +constexpr int | VOCAB_CC_MOVI = yarp::os::createVocab32('m','o','v','i') |
| Achieve pose (position control) | |
| +constexpr int | VOCAB_CC_TWIST = yarp::os::createVocab32('t','w','s','t') |
| Instantaneous velocity steps. | |
| +constexpr int | VOCAB_CC_WRENCH = yarp::os::createVocab32('w','r','n','c') |
| Exert force. | |
Control state vocabs | |
Used by roboticslab::ICartesianControl::stat to reflect current control state. + | |
| +constexpr int | VOCAB_CC_NOT_CONTROLLING = yarp::os::createVocab32('c','c','n','c') |
| Not controlling. | |
| +constexpr int | VOCAB_CC_MOVJ_CONTROLLING = yarp::os::createVocab32('c','c','j','c') |
| Controlling MOVJ commands. | |
| +constexpr int | VOCAB_CC_MOVL_CONTROLLING = yarp::os::createVocab32('c','c','l','c') |
| Controlling MOVL commands. | |
| +constexpr int | VOCAB_CC_MOVV_CONTROLLING = yarp::os::createVocab32('c','c','v','c') |
| Controlling MOVV commands. | |
| +constexpr int | VOCAB_CC_GCMP_CONTROLLING = yarp::os::createVocab32('c','c','g','c') |
| Controlling GCMP commands. | |
| +constexpr int | VOCAB_CC_FORC_CONTROLLING = yarp::os::createVocab32('c','c','f','c') |
| Controlling FORC commands. | |
Actuator control vocabs | |
+ Used by roboticslab::ICartesianControl::act to control the actuator. + | |
| +constexpr int | VOCAB_CC_ACTUATOR_NONE = yarp::os::createVocab32('a','c','n') |
| No actuator or no action. | |
| +constexpr int | VOCAB_CC_ACTUATOR_CLOSE_GRIPPER = yarp::os::createVocab32('a','c','c','g') |
| Close gripper. | |
| +constexpr int | VOCAB_CC_ACTUATOR_OPEN_GRIPPER = yarp::os::createVocab32('a','c','o','g') |
| Open gripper. | |
| +constexpr int | VOCAB_CC_ACTUATOR_STOP_GRIPPER = yarp::os::createVocab32('a','c','s','g') |
| Stop gripper. | |
| +constexpr int | VOCAB_CC_ACTUATOR_GENERIC = yarp::os::createVocab32('a','c','g') |
| Generic actuator. | |
Controller configuration vocabs | |
Used by configuration accessors. + | |
| +constexpr int | VOCAB_CC_CONFIG_PARAMS = yarp::os::createVocab32('p','r','m','s') |
| Parameter group. | |
| +constexpr int | VOCAB_CC_CONFIG_GAIN = yarp::os::createVocab32('c','p','c','g') |
| Controller gain. | |
| +constexpr int | VOCAB_CC_CONFIG_TRAJ_DURATION = yarp::os::createVocab32('c','p','t','d') |
| Trajectory duration. | |
| +constexpr int | VOCAB_CC_CONFIG_CMC_PERIOD = yarp::os::createVocab32('c','p','c','p') |
| CMC period [ms]. | |
| +constexpr int | VOCAB_CC_CONFIG_WAIT_PERIOD = yarp::os::createVocab32('c','p','w','p') |
| Check period of 'wait' command [ms]. | |
| +constexpr int | VOCAB_CC_CONFIG_FRAME = yarp::os::createVocab32('c','p','f') |
| Reference frame. | |
| +constexpr int | VOCAB_CC_CONFIG_STREAMING_CMD = yarp::os::createVocab32('c','p','s','c') |
| Preset streaming command. | |
1.9.1
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Contains roboticslab::ICartesianSolver. +More...
+#include <vector>#include <yarp/os/Vocab.h>Go to the source code of this file.
++Classes | |
| class | roboticslab::ICartesianSolver |
| Abstract base class for a cartesian solver. More... | |
+Namespaces | |
| roboticslab | |
| The main, catch-all namespace for Robotics Lab UC3M. | |
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| ▼Nroboticslab | The main, catch-all namespace for Robotics Lab UC3M |
| ▼Ntest | Contains classes related to unit testing |
| CAsibotSolverTestFromFile | Tests AsibotSolver ikin from loaded configuration file |
| CBasicCartesianControlTest | Tests BasicCartesianControl ikin and idyn on a simple mechanism |
| CKdlSolverTest | Tests KdlSolver ikin and idyn on a simple mechanism |
| CKdlSolverTestFromFile | Tests KdlSolver ikin and idyn on a simple mechanism |
| CKinRepresentationTest | Tests KinRepresentation |
| ▼CScrewTheoryTest | Tests classes related to Screw Theory |
| Ccompare_solutions | |
| ▼CConfigurationSelector | Abstract base class for a robot configuration strategy selector |
| CConfiguration | Helper class to store a specific robot configuration |
| CConfigurationSelectorLeastOverallAngularDisplacement | IK solver configuration strategy selector based on the overall displacement of all joints |
| CConfigurationSelectorHumanoidGait | IK solver configuration strategy selector based on human walking |
| CConfigurationSelectorFactory | Base factory class for ConfigurationSelector |
| CConfigurationSelectorLeastOverallAngularDisplacementFactory | Implementation factory class for ConfigurationSelectorLeastOverallAngularDisplacement |
| CConfigurationSelectorHumanoidGaitFactory | Implementation factory class for ConfigurationSelectorHumanoidGait |
| CMatrixExponential | Abstraction of a term in a product of exponentials (POE) formula |
| CPoeExpression | Abstraction of a product of exponentials (POE) formula |
| CScrewTheoryIkSubproblem | Interface shared by all IK subproblems found in Screw Theory applied to Robotics |
| CScrewTheoryIkProblem | Proxy IK problem solver class that iterates over a sequence of subproblems |
| ▼CScrewTheoryIkProblemBuilder | Automated IK solution finder |
| CPoeTerm | Helper structure that holds the state of a POE term |
| CPadenKahanOne | First Paden-Kahan subproblem |
| CPadenKahanTwo | Second Paden-Kahan subproblem |
| CPadenKahanThree | Third Paden-Kahan subproblem |
| CPardosGotorOne | First Pardos-Gotor subproblem |
| CPardosGotorTwo | Second Pardos-Gotor subproblem |
| CPardosGotorThree | Third Pardos-Gotor subproblem |
| CPardosGotorFour | Fourth Pardos-Gotor subproblem |
| ▼CAsibotConfiguration | Abstract base class for a robot configuration strategy selector |
| CPose | Helper class to store a specific robot configuration |
| CAsibotConfigurationLeastOverallAngularDisplacement | IK solver configuration strategy selector based on the overall angle displacement of all joints |
| CAsibotConfigurationFactory | Base factory class for AsibotConfiguration |
| CAsibotConfigurationLeastOverallAngularDisplacementFactory | Implementation factory class for AsibotConfigurationLeastOverallAngularDisplacement |
| ▼CAsibotSolver | The AsibotSolver implements ICartesianSolver |
| CAsibotTcpFrame | |
| ▼CBasicCartesianControl | Implements ICartesianControl |
| CStateWatcher | |
| CFkStreamResponder | Responds to streaming FK messages |
| CCartesianControlClient | Implements ICartesianControl client side |
| CCartesianControlServer | Implements ICartesianControl server side |
| CRpcResponder | Responds to RPC command messages |
| CRpcTransformResponder | Responds to RPC command messages, transforms incoming data |
| CStreamResponder | Responds to streaming command messages |
| CICartesianControl | Abstract base class for a cartesian controller |
| CICartesianSolver | Abstract base class for a cartesian solver |
| CChainFkSolverPos_ST | FK solver using Screw Theory |
| CChainIkSolverPos_ID | IK solver using infinitesimal displacement twists |
| CChainIkSolverPos_ST | IK solver using Screw Theory |
| CKdlSolver | Implements ICartesianSolver |
| CKdlTreeSolver | Implements ICartesianSolver |
| CFtCompensation | Produces motion in the direction of an externally applied force measured by a force-torque sensor (pretty much mimicking a classical gravity compensation app) |
| CGrabberResponder | Callback class for dealing with incoming grabber data streams |
| CHaarDetectionController | Create seek-and-follow trajectories based on Haar detection algorithms |
| CKeyboardController | Sends streaming commands to the cartesian controller from a standard keyboard |
| CLinearTrajectoryThread | Periodic thread that encapsulates a linear trajectory |
| CCentroidTransform | .. |
| CLeapMotionSensorDevice | Represents a LeapMotion device wrapped as an analog sensor by YARP |
| CSpnavSensorDevice | Represents a spacenav-compatible device, like the SpaceNavigator 6-DOF mouse from 3Dconnexion |
| CStreamingDeviceFactory | Factory class for creating instances of StreamingDevice |
| CStreamingDevice | Abstract class for a YARP streaming device |
| CInvalidDevice | Represents an invalid device |
| CStreamingDeviceController | Sends streaming commands to the cartesian controller from a streaming input device like the 3Dconnexion Space Navigator |
| CWiimoteSensorDevice | Represents a Wiimote device wrapped as an analog sensor by YARP |
| COrderOneTraj | Generates a 1DOF order-one trajectory |
| COrderThreeTraj | Generates a 1DOF order-three trajectory |
| CTraj | A base class for 1 degree-of-freedom trajectories |
| CTrajectoryThread |
1.9.1
+
+
+
diff --git a/bc_s.png b/bc_s.png
new file mode 100644
index 0000000000000000000000000000000000000000..224b29aa9847d5a4b3902efd602b7ddf7d33e6c2
GIT binary patch
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+ kinematics-dynamics
+
+ |
+
1.9.1
+
+
+
diff --git a/classOrderOneTraj-members.html b/classOrderOneTraj-members.html
new file mode 100644
index 000000000..50dcd488d
--- /dev/null
+++ b/classOrderOneTraj-members.html
@@ -0,0 +1,98 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for OrderOneTraj, including all inherited members.
+| b (defined in OrderOneTraj) | OrderOneTraj | private |
| configure(const double xi, const double xf, const double _T) (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| configure(const double xi, const double xf, const double xdoti, const double xdotf, const double _T) (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| dump(double samples) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| get(const double ti) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| getdot(const double ti) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| getdotdot(const double ti) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| getT() const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| m (defined in OrderOneTraj) | OrderOneTraj | private |
| maxAccBelow(const double thresAcc) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| maxVelBelow(const double thresVel) const (defined in OrderOneTraj) | OrderOneTraj | inlinevirtual |
| OrderOneTraj() (defined in OrderOneTraj) | OrderOneTraj | inline |
| T (defined in OrderOneTraj) | OrderOneTraj | private |
| ~Traj() (defined in Traj) | Traj | inlinevirtual |
1.9.1
+
+
+
diff --git a/classOrderOneTraj.html b/classOrderOneTraj.html
new file mode 100644
index 000000000..7d2a3f7a0
--- /dev/null
+++ b/classOrderOneTraj.html
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Generates a 1DOF order-one trajectory. +
+ +#include <TrajGen.hpp>
+
++Private Attributes | |
| +double | T |
| +double | m |
| +double | b |
1.9.1
+
+
+
diff --git a/classOrderOneTraj.png b/classOrderOneTraj.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for OrderThreeTraj, including all inherited members.
+| a0 (defined in OrderThreeTraj) | OrderThreeTraj | private |
| a1 (defined in OrderThreeTraj) | OrderThreeTraj | private |
| a2 (defined in OrderThreeTraj) | OrderThreeTraj | private |
| a3 (defined in OrderThreeTraj) | OrderThreeTraj | private |
| configure(const double xi, const double xf, const double _T) | OrderThreeTraj | inlinevirtual |
| configure(const double xi, const double xf, const double xdoti, const double xdotf, const double _T) | OrderThreeTraj | inlinevirtual |
| dump(double samples) const | OrderThreeTraj | inlinevirtual |
| get(const double ti) const | OrderThreeTraj | inlinevirtual |
| getdot(const double ti) const | OrderThreeTraj | inlinevirtual |
| getdotdot(const double ti) const | OrderThreeTraj | inlinevirtual |
| getT() const | OrderThreeTraj | inlinevirtual |
| maxAccBelow(const double thresAcc) const | OrderThreeTraj | inlinevirtual |
| maxVelBelow(const double thresVel) const | OrderThreeTraj | inlinevirtual |
| OrderThreeTraj() (defined in OrderThreeTraj) | OrderThreeTraj | inline |
| T (defined in OrderThreeTraj) | OrderThreeTraj | private |
| ~Traj() (defined in Traj) | Traj | inlinevirtual |
1.9.1
+
+
+
diff --git a/classOrderThreeTraj.html b/classOrderThreeTraj.html
new file mode 100644
index 000000000..533fa47e6
--- /dev/null
+++ b/classOrderThreeTraj.html
@@ -0,0 +1,452 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Generates a 1DOF order-three trajectory. +
+ +#include <TrajGen.hpp>
+
++Public Member Functions | |
| bool | configure (const double xi, const double xf, const double _T) |
| bool | configure (const double xi, const double xf, const double xdoti, const double xdotf, const double _T) |
| double | get (const double ti) const |
| double | getdot (const double ti) const |
| double | getdotdot (const double ti) const |
| bool | maxVelBelow (const double thresVel) const |
| bool | maxAccBelow (const double thresAcc) const |
| double | getT () const |
| void | dump (double samples) const |
+Private Attributes | |
| +double | a3 |
| +double | a2 |
| +double | a1 |
| +double | a0 |
| +double | T |
+
|
+ +inlinevirtual | +
Configure the trajectory. Forces null initial and final velocities.
+ +Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Configure the trajectory setting an initial and final velocity too (warning: possible overshoot).
+ +Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Printf of ti, f(ti), fdot(ti), fdotdot(ti) for whole duration interval.
| samples | number of lines to print. |
Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Check if the maximum of the second derivative is below a certain threshold.
+ +Implements Traj.
+ +
+
|
+ +inlinevirtual | +
Check if the maximum of the first derivative is below a certain threshold.
+ +Implements Traj.
+ + 1.9.1
+
+
+
diff --git a/classOrderThreeTraj.png b/classOrderThreeTraj.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for Traj, including all inherited members.
+| configure(const double xi, const double xf, const double _T)=0 (defined in Traj) | Traj | pure virtual |
| configure(const double xi, const double xf, const double xdoti, const double xdotf, const double _T)=0 (defined in Traj) | Traj | pure virtual |
| dump(double samples) const =0 (defined in Traj) | Traj | pure virtual |
| get(const double ti) const =0 (defined in Traj) | Traj | pure virtual |
| getdot(const double ti) const =0 (defined in Traj) | Traj | pure virtual |
| getdotdot(const double ti) const =0 (defined in Traj) | Traj | pure virtual |
| getT() const =0 (defined in Traj) | Traj | pure virtual |
| maxAccBelow(const double thresAcc) const =0 (defined in Traj) | Traj | pure virtual |
| maxVelBelow(const double thresVel) const =0 (defined in Traj) | Traj | pure virtual |
| ~Traj() (defined in Traj) | Traj | inlinevirtual |
1.9.1
+
+
+
diff --git a/classTraj.html b/classTraj.html
new file mode 100644
index 000000000..6ebd33b8a
--- /dev/null
+++ b/classTraj.html
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
A base class for 1 degree-of-freedom trajectories. +
+ +#include <TrajGen.hpp>
+
+ 1.9.1
+
+
+
diff --git a/classTraj.png b/classTraj.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a1768cc636da513893ef1d2f86a4910f8a840e7
GIT binary patch
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for TrajectoryThread, including all inherited members.
+| axes (defined in TrajectoryThread) | TrajectoryThread | private |
| iEncoders (defined in TrajectoryThread) | TrajectoryThread | private |
| ikConfig (defined in TrajectoryThread) | TrajectoryThread | private |
| ikProblem (defined in TrajectoryThread) | TrajectoryThread | private |
| iPosDirect (defined in TrajectoryThread) | TrajectoryThread | private |
| run() override (defined in TrajectoryThread) | TrajectoryThread | protected |
| startTime (defined in TrajectoryThread) | TrajectoryThread | private |
| threadInit() override (defined in TrajectoryThread) | TrajectoryThread | protected |
| trajectory (defined in TrajectoryThread) | TrajectoryThread | private |
| TrajectoryThread(yarp::dev::IEncoders *iEncoders, yarp::dev::IPositionDirect *iPosDirect, roboticslab::ScrewTheoryIkProblem *ikProblem, roboticslab::ConfigurationSelector *ikConfig, KDL::Trajectory *trajectory, int period) (defined in TrajectoryThread) | TrajectoryThread | inline |
1.9.1
+
+
+
diff --git a/classTrajectoryThread.html b/classTrajectoryThread.html
new file mode 100644
index 000000000..ead0d9226
--- /dev/null
+++ b/classTrajectoryThread.html
@@ -0,0 +1,136 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
+ +Public Member Functions | |
| + | TrajectoryThread (yarp::dev::IEncoders *iEncoders, yarp::dev::IPositionDirect *iPosDirect, roboticslab::ScrewTheoryIkProblem *ikProblem, roboticslab::ConfigurationSelector *ikConfig, KDL::Trajectory *trajectory, int period) |
+Protected Member Functions | |
| +bool | threadInit () override |
| +void | run () override |
+Private Attributes | |
| +yarp::dev::IEncoders * | iEncoders |
| +yarp::dev::IPositionDirect * | iPosDirect |
| +roboticslab::ScrewTheoryIkProblem * | ikProblem |
| +roboticslab::ConfigurationSelector * | ikConfig |
| +KDL::Trajectory * | trajectory |
| +int | axes |
| +double | startTime |
1.9.1
+
+
+
diff --git a/classTrajectoryThread.png b/classTrajectoryThread.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfiguration-members.html b/classroboticslab_1_1AsibotConfiguration-members.html
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index 000000000..47a48e333
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::AsibotConfiguration, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfiguration.html b/classroboticslab_1_1AsibotConfiguration.html
new file mode 100644
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@@ -0,0 +1,365 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstract base class for a robot configuration strategy selector. + More...
+ +#include <AsibotConfiguration.hpp>
+
++Classes | |
| struct | Pose |
| Helper class to store a specific robot configuration. More... | |
+Public Types | |
| +using | JointsIn = const std::vector< double > & |
| Const vector of joint angles (input parameter). | |
| +using | JointsOut = std::vector< double > & |
| Vector of joint angles (output parameter). | |
+Public Member Functions | |
| AsibotConfiguration (JointsIn qMin, JointsIn qMax) | |
| Constructor. More... | |
| +virtual | ~AsibotConfiguration ()=default |
| Destructor. | |
| virtual bool | configure (double q1, double q2u, double q2d, double q3, double q4u, double q4d, double q5) |
| Stores initial values for a specific pose. More... | |
| virtual bool | findOptimalConfiguration (JointsIn qGuess)=0 |
| Analyzes available configurations and selects the optimal one. More... | |
| virtual void | retrieveAngles (JointsOut q) const |
| Queries computed angles for the optimal configuration. More... | |
+Protected Attributes | |
| +JointsIn | _qMin |
| +JointsIn | _qMax |
| +Pose | optimalPose |
| +Pose | forwardElbowUp |
| +Pose | forwardElbowDown |
| +Pose | reversedElbowUp |
| +Pose | reversedElbowDown |
Designed with ASIBOT's specific case in mind, which entails up to four different configurations depending on initial angles provided.
+
+
|
+ +inline | +
| qMin | vector of minimum joint limits [deg] |
| qMax | vector of maximum joint limits [deg] |
+
|
+ +virtual | +
Distinguishes between elbow up and down poses. Make sure that:
+| q1 | IK solution for joint 1 [deg] |
| q2u | IK solution for joint 2 (elbow up) [deg] |
| q2d | IK solution for joint 2 (elbow down) [deg] |
| q3 | IK solution for joint 3 [deg] |
| q4u | IK solution for joint 4 (elbow up) [deg] |
| q4d | IK solution for joint 4 (elbow down) [deg] |
| q5 | IK solution for joint 5 [deg] |
+
|
+ +pure virtual | +
| qGuess | vector of joint angles for current robot position [deg] |
Implemented in roboticslab::AsibotConfigurationLeastOverallAngularDisplacement.
+ +
+
|
+ +inlinevirtual | +
| q | vector of joint angles [deg] |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfiguration.png b/classroboticslab_1_1AsibotConfiguration.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::AsibotConfigurationFactory, including all inherited members.
+| _qMax (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | protected |
| _qMin (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | protected |
| AsibotConfigurationFactory(AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | roboticslab::AsibotConfigurationFactory | inlineprotected |
| create() const =0 | roboticslab::AsibotConfigurationFactory | pure virtual |
| ~AsibotConfigurationFactory()=default (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationFactory.html b/classroboticslab_1_1AsibotConfigurationFactory.html
new file mode 100644
index 000000000..a6d4eb15e
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@@ -0,0 +1,204 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Base factory class for AsibotConfiguration. + More...
+ +#include <AsibotConfiguration.hpp>
+
++Public Member Functions | |
| virtual AsibotConfiguration * | create () const =0 |
| Creates an instance of the concrete class. More... | |
+Protected Member Functions | |
| AsibotConfigurationFactory (AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | |
| Constructor. More... | |
+Protected Attributes | |
| +AsibotConfiguration::JointsIn | _qMin |
| +AsibotConfiguration::JointsIn | _qMax |
Acts as the base class in the abstract factory pattern, encapsulates individual factories.
+
+
|
+ +inlineprotected | +
| qMin | vector of minimum joint limits [deg] |
| qMax | vector of maximum joint limits [deg] |
+
|
+ +pure virtual | +
Implemented in roboticslab::AsibotConfigurationLeastOverallAngularDisplacementFactory.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationFactory.png b/classroboticslab_1_1AsibotConfigurationFactory.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c7093cbe9618f3b79b20352eb9700ca468d8e66
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::AsibotConfigurationLeastOverallAngularDisplacement, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacement.html b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacement.html
new file mode 100644
index 000000000..11eadae0d
--- /dev/null
+++ b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacement.html
@@ -0,0 +1,254 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
IK solver configuration strategy selector based on the overall angle displacement of all joints. + More...
+ +#include <AsibotConfiguration.hpp>
+
++Public Member Functions | |
| AsibotConfigurationLeastOverallAngularDisplacement (JointsIn qMin, JointsIn qMax) | |
| Constructor. More... | |
| bool | findOptimalConfiguration (JointsIn qGuess) override |
| Analyzes available configurations and selects the optimal one. More... | |
 Public Member Functions inherited from roboticslab::AsibotConfiguration | |
| AsibotConfiguration (JointsIn qMin, JointsIn qMax) | |
| Constructor. More... | |
| +virtual | ~AsibotConfiguration ()=default |
| Destructor. | |
| virtual bool | configure (double q1, double q2u, double q2d, double q3, double q4u, double q4d, double q5) |
| Stores initial values for a specific pose. More... | |
| virtual void | retrieveAngles (JointsOut q) const |
| Queries computed angles for the optimal configuration. More... | |
+Private Member Functions | |
| +std::vector< double > | getDiffs (JointsIn qGuess, const Pose &pose) |
| Obtains vector of differences between current and desired joint angles [deg]. | |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::AsibotConfiguration | |
| +using | JointsIn = const std::vector< double > & |
| Const vector of joint angles (input parameter). | |
| +using | JointsOut = std::vector< double > & |
| Vector of joint angles (output parameter). | |
| Protected Attributes inherited from roboticslab::AsibotConfiguration | |
| +JointsIn | _qMin |
| +JointsIn | _qMax |
| +Pose | optimalPose |
| +Pose | forwardElbowUp |
| +Pose | forwardElbowDown |
| +Pose | reversedElbowUp |
| +Pose | reversedElbowDown |
Selects the configuration that entails the lowest sum of angular displacements across all joints. Upon choosing between elbow up and down alternatives, a small angular travel distance for joint 2 is preferred.
+
+
|
+ +inline | +
| qMin | vector of minimum joint limits [deg] |
| qMax | vector of maximum joint limits [deg] |
+
|
+ +overridevirtual | +
| qGuess | vector of joint angles for current robot position [deg] |
Implements roboticslab::AsibotConfiguration.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacement.png b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacement.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::AsibotConfigurationLeastOverallAngularDisplacementFactory, including all inherited members.
+| _qMax (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | protected |
| _qMin (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | protected |
| AsibotConfigurationFactory(AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | roboticslab::AsibotConfigurationFactory | inlineprotected |
| AsibotConfigurationLeastOverallAngularDisplacementFactory(AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | roboticslab::AsibotConfigurationLeastOverallAngularDisplacementFactory | inline |
| create() const override | roboticslab::AsibotConfigurationLeastOverallAngularDisplacementFactory | inlinevirtual |
| ~AsibotConfigurationFactory()=default (defined in roboticslab::AsibotConfigurationFactory) | roboticslab::AsibotConfigurationFactory | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacementFactory.html b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacementFactory.html
new file mode 100644
index 000000000..363d676f8
--- /dev/null
+++ b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacementFactory.html
@@ -0,0 +1,204 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Implementation factory class for AsibotConfigurationLeastOverallAngularDisplacement. + More...
+ +#include <AsibotConfiguration.hpp>
+
++Public Member Functions | |
| AsibotConfigurationLeastOverallAngularDisplacementFactory (AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | |
| Constructor. More... | |
| AsibotConfiguration * | create () const override |
| Creates an instance of the concrete class. More... | |
+Additional Inherited Members | |
| Protected Member Functions inherited from roboticslab::AsibotConfigurationFactory | |
| AsibotConfigurationFactory (AsibotConfiguration::JointsIn qMin, AsibotConfiguration::JointsIn qMax) | |
| Constructor. More... | |
| Protected Attributes inherited from roboticslab::AsibotConfigurationFactory | |
| +AsibotConfiguration::JointsIn | _qMin |
| +AsibotConfiguration::JointsIn | _qMax |
Implements AsibotConfigurationFactory::create.
+
+
|
+ +inline | +
| qMin | vector of minimum joint limits [deg] |
| qMax | vector of maximum joint limits [deg] |
+
|
+ +inlineoverridevirtual | +
Implements roboticslab::AsibotConfigurationFactory.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacementFactory.png b/classroboticslab_1_1AsibotConfigurationLeastOverallAngularDisplacementFactory.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f989fe982d6ff3b0be09242ab77171bd255fc8b
GIT binary patch
literal 1294
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z0VD^)2M!!y?YtuoWO9@Q`2{lo6@kFjQz1qS3@md!T^vIy7~jslSoT|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::AsibotSolver, including all inherited members.
+| A0 (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| A1 (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| A2 (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| A3 (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| appendLink(const std::vector< double > &x) override | roboticslab::AsibotSolver | virtual |
| BASE_FRAME enum value | roboticslab::ICartesianSolver | |
| changeOrigin(const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override | roboticslab::AsibotSolver | virtual |
| close() override (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | |
| confFactory (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| diffInvKin(const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override | roboticslab::AsibotSolver | virtual |
| fwdKin(const std::vector< double > &q, std::vector< double > &x) override | roboticslab::AsibotSolver | virtual |
| getConfiguration() const (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| getNumJoints() override | roboticslab::AsibotSolver | virtual |
| getNumTcps() override | roboticslab::AsibotSolver | virtual |
| getTcpFrame() const (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| invDyn(const std::vector< double > &q, std::vector< double > &t) override | roboticslab::AsibotSolver | virtual |
| invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override | roboticslab::AsibotSolver | virtual |
| roboticslab::ICartesianSolver::invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) | roboticslab::ICartesianSolver | inlinevirtual |
| invKin(const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override | roboticslab::AsibotSolver | virtual |
| mtx (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | mutableprivate |
| open(yarp::os::Searchable &config) override (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | |
| poseDiff(const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override | roboticslab::AsibotSolver | virtual |
| qMax (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| qMin (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| reference_frame enum name | roboticslab::ICartesianSolver | |
| restoreOriginalChain() override | roboticslab::AsibotSolver | virtual |
| setTcpFrame(const AsibotTcpFrame &tcpFrameStruct) (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| TCP_FRAME enum value | roboticslab::ICartesianSolver | |
| tcpFrameStruct (defined in roboticslab::AsibotSolver) | roboticslab::AsibotSolver | private |
| ~ICartesianSolver()=default | roboticslab::ICartesianSolver | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotSolver.html b/classroboticslab_1_1AsibotSolver.html
new file mode 100644
index 000000000..8a610274d
--- /dev/null
+++ b/classroboticslab_1_1AsibotSolver.html
@@ -0,0 +1,732 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
The AsibotSolver implements ICartesianSolver. +
+ +#include <AsibotSolver.hpp>
+
++Classes | |
| struct | AsibotTcpFrame |
+Public Member Functions | |
| int | getNumJoints () override |
| Get number of joints for which the solver has been configured. More... | |
| int | getNumTcps () override |
| Get number of TCPs for which the solver has been configured. More... | |
| bool | appendLink (const std::vector< double > &x) override |
| Append an additional link. More... | |
| bool | restoreOriginalChain () override |
| Restore original kinematic chain. More... | |
| bool | changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override |
| Change origin in which a pose is expressed. More... | |
| bool | fwdKin (const std::vector< double > &q, std::vector< double > &x) override |
| Perform forward kinematics. More... | |
| bool | poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override |
| Obtain difference between supplied pose inputs. More... | |
| bool | invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override |
| Perform inverse kinematics. More... | |
| bool | diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override |
| Perform differential inverse kinematics. More... | |
| bool | invDyn (const std::vector< double > &q, std::vector< double > &t) override |
| Perform inverse dynamics. More... | |
| bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override |
| Perform inverse dynamics. More... | |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| Public Member Functions inherited from roboticslab::ICartesianSolver | |
| +virtual | ~ICartesianSolver ()=default |
| Destructor. | |
| virtual bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) |
| Perform inverse dynamics. More... | |
+Private Member Functions | |
| +AsibotConfiguration * | getConfiguration () const |
| +AsibotTcpFrame | getTcpFrame () const |
| +void | setTcpFrame (const AsibotTcpFrame &tcpFrameStruct) |
+Private Attributes | |
| +double | A0 |
| +double | A1 |
| +double | A2 |
| +double | A3 |
| +std::vector< double > | qMin |
| +std::vector< double > | qMax |
| +AsibotConfigurationFactory * | confFactory {nullptr} |
| +AsibotTcpFrame | tcpFrameStruct |
| +std::mutex | mtx |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ICartesianSolver | |
| enum | reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') +, TCP_FRAME = yarp::os::createVocab32('c','p','f','t') + } |
| Lists supported reference frames. More... | |
+
|
+ +overridevirtual | +
| x | 6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| x_old_obj_in | 6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_old | 6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_obj | 6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| xdot | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
| qdot | Vector describing target velocity in joint space (meters/second or degrees/second). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing a position in joint space (meters or degrees). |
| x | 6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| qdot | Vector describing current velocity in joint space (meters/second or degrees/second). |
| qdotdot | Vector describing current acceleration in joint space (meters/secondยฒ or degrees/secondยฒ). |
| ftip | Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| frame | Points at the reference_frame ftip is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Assumes null joint velocities and accelerations, and no external forces.
+| q | Vector describing current position in joint space (meters or degrees). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| qGuess | Vector describing current position in joint space (meters or degrees). |
| q | Vector describing target position in joint space (meters or degrees). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.
+| xLhs | 6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xRhs | 6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xOut | 6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1AsibotSolver.png b/classroboticslab_1_1AsibotSolver.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c4fa03756d0cce42a350022b2af7c6266f16ca2
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z09jys;J^Xa&O7ozE=Ng_UoZnu5eQs86=KA|z|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::BasicCartesianControl, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1BasicCartesianControl.html b/classroboticslab_1_1BasicCartesianControl.html
new file mode 100644
index 000000000..39e10f507
--- /dev/null
+++ b/classroboticslab_1_1BasicCartesianControl.html
@@ -0,0 +1,1152 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
The BasicCartesianControl class implements ICartesianControl. +
+ +#include <BasicCartesianControl.hpp>
+
++Classes | |
| class | StateWatcher |
+Public Member Functions | |
| bool | stat (std::vector< double > &x, int *state=nullptr, double *timestamp=nullptr) override |
| Current state and position. More... | |
| bool | inv (const std::vector< double > &xd, std::vector< double > &q) override |
| Inverse kinematics. More... | |
| bool | movj (const std::vector< double > &xd) override |
| Move in joint space, absolute coordinates. More... | |
| bool | relj (const std::vector< double > &xd) override |
| Move in joint space, relative coordinates. More... | |
| bool | movl (const std::vector< double > &xd) override |
| Linear move to target position. More... | |
| bool | movv (const std::vector< double > &xdotd) override |
| Linear move with given velocity. More... | |
| bool | gcmp () override |
| Gravity compensation. More... | |
| bool | forc (const std::vector< double > &fd) override |
| Force control. More... | |
| bool | stopControl () override |
| Stop control. More... | |
| bool | wait (double timeout) override |
| Wait until completion. More... | |
| bool | tool (const std::vector< double > &x) override |
| Change tool. More... | |
| bool | act (int command) override |
| Actuate tool. More... | |
| void | movi (const std::vector< double > &x) override |
| Achieve pose. More... | |
| void | twist (const std::vector< double > &xdot) override |
| Instantaneous velocity steps. More... | |
| void | wrench (const std::vector< double > &w) override |
| Exert force. More... | |
| bool | setParameter (int vocab, double value) override |
| Set a configuration parameter. More... | |
| bool | getParameter (int vocab, double *value) override |
| Retrieve a configuration parameter. More... | |
| bool | setParameters (const std::map< int, double > ¶ms) override |
| Set multiple configuration parameters. More... | |
| bool | getParameters (std::map< int, double > ¶ms) override |
| Retrieve multiple configuration parameters. More... | |
| +void | run () override |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| Public Member Functions inherited from roboticslab::ICartesianControl | |
| +virtual | ~ICartesianControl ()=default |
| Destructor. | |
+Private Member Functions | |
| +int | getCurrentState () const |
| +void | setCurrentState (int value) |
| +bool | checkJointLimits (const std::vector< double > &q) |
| +bool | checkJointLimits (const std::vector< double > &q, const std::vector< double > &qdot) |
| +bool | checkJointVelocities (const std::vector< double > &qdot) |
| +bool | doFailFastChecks (const std::vector< double > &initialQ) |
| +bool | checkControlModes (int mode) |
| +bool | setControlModes (int mode) |
| +bool | presetStreamingCommand (int command) |
| +bool | computeIsocronousSpeeds (const std::vector< double > &q, const std::vector< double > &qd, std::vector< double > &qdot) |
| +void | handleMovj (const std::vector< double > &q, const StateWatcher &watcher) |
| +void | handleMovlVel (const std::vector< double > &q, const StateWatcher &watcher) |
| +void | handleMovlPosd (const std::vector< double > &q, const StateWatcher &watcher) |
| +void | handleMovv (const std::vector< double > &q, const StateWatcher &watcher) |
| +void | handleGcmp (const std::vector< double > &q, const StateWatcher &watcher) |
| +void | handleForc (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const StateWatcher &watcher) |
+Private Attributes | |
| +yarp::dev::PolyDriver | solverDevice |
| +ICartesianSolver * | iCartesianSolver {nullptr} |
| +yarp::dev::PolyDriver | robotDevice |
| +yarp::dev::IControlMode * | iControlMode {nullptr} |
| +yarp::dev::IEncoders * | iEncoders {nullptr} |
| +yarp::dev::IPositionControl * | iPositionControl {nullptr} |
| +yarp::dev::IPositionDirect * | iPositionDirect {nullptr} |
| +yarp::dev::IPreciselyTimed * | iPreciselyTimed {nullptr} |
| +yarp::dev::ITorqueControl * | iTorqueControl {nullptr} |
| +yarp::dev::IVelocityControl * | iVelocityControl {nullptr} |
| +ICartesianSolver::reference_frame | referenceFrame |
| +double | gain |
| +double | duration |
| +int | cmcPeriodMs |
| +int | waitPeriodMs |
| +int | numJoints |
| +int | currentState |
| +int | streamingCommand |
| +bool | usePosdMovl |
| +bool | enableFailFast |
| +std::mutex | stateMutex |
| std::vector< double > | vmoStored |
| double | movementStartTime |
| std::vector< std::unique_ptr< KDL::Trajectory > > | trajectories |
| std::vector< double > | fd |
| +int | encoderErrors {0} |
| +std::atomic_bool | cmcSuccess |
| +std::vector< double > | qMin |
| +std::vector< double > | qMax |
| +std::vector< double > | qdotMin |
| +std::vector< double > | qdotMax |
| +std::vector< double > | qRefSpeeds |
+
|
+ +overridevirtual | +
Send control command to actuate the robot's tool, if available.
+| command | One of available actuator vocabs. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Apply desired forces in task space.
+| fd | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Enable gravity compensation.
+Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to retrieve a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to retrieve all available parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics (using robot position as initial guess), but do not move.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| q | Vector describing current position in joint space (meters or degrees). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move to desired position instantaneously, no further intermediate calculations are expected other than computing the inverse kinematics.
+| x | 6-element vector describing desired instantaneous pose in cartesian space; first three elements denote translation (meters), last three denote rotation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics and move to desired position in joint space using absolute coordinates.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move to end position along a line trajectory.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move along a line with constant velocity.
+| xdotd | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics and move to desired position in joint space using relative coordinates.
+| xd | 6-element vector describing desired offset in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to store or update a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to store or update multiple parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Inform on control state, get robot position and perform forward kinematics.
+| x | 6-element vector describing current position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| state | Identifier for a cartesian control vocab. |
| timestamp | Remote encoder acquisition time. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Halt current control loop if any and cease movement.
+Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Unload current tool if any and append new tool frame to the kinematic chain.
+| x | 6-element vector describing new tool tip with regard to current end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move in instantaneous velocity increments.
+| xdot | 6-element vector describing velocity increments in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Block execution until the movement is completed, errors occur or timeout is reached.
+| timeout | Timeout in seconds, '0.0' means no timeout. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Make the TCP exert the desired force instantaneously.
+| w | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +private | +
FORC desired Cartesian force
+ +
+
|
+ +private | +
MOVL keep track of movement start time to know at what time of trajectory movement we are
+ +
+
|
+ +private | +
MOVL store Cartesian trajectory
+ +
+
|
+ +private | +
MOVJ store previous reference speeds
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1BasicCartesianControl.png b/classroboticslab_1_1BasicCartesianControl.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3bdd51d5225b283e7c244612fe2abef6112186f
GIT binary patch
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::BasicCartesianControl::StateWatcher, including all inherited members.
+| handler (defined in roboticslab::BasicCartesianControl::StateWatcher) | roboticslab::BasicCartesianControl::StateWatcher | mutableprivate |
| StateWatcher(Fn &&fn) (defined in roboticslab::BasicCartesianControl::StateWatcher) | roboticslab::BasicCartesianControl::StateWatcher | inline |
| suppress() const (defined in roboticslab::BasicCartesianControl::StateWatcher) | roboticslab::BasicCartesianControl::StateWatcher | inline |
| ~StateWatcher() (defined in roboticslab::BasicCartesianControl::StateWatcher) | roboticslab::BasicCartesianControl::StateWatcher | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1BasicCartesianControl_1_1StateWatcher.html b/classroboticslab_1_1BasicCartesianControl_1_1StateWatcher.html
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
+Public Member Functions | |
| +template<typename Fn > | |
| StateWatcher (Fn &&fn) | |
| +void | suppress () const |
+Private Attributes | |
| +std::function< void()> | handler |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1CartesianControlClient-members.html b/classroboticslab_1_1CartesianControlClient-members.html
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+
+
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+
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+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::CartesianControlClient, including all inherited members.
+| act(int command) override | roboticslab::CartesianControlClient | virtual |
| close() override (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | |
| commandPort (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| fkInPort (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| fkStreamResponder (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| fkStreamTimeoutSecs (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| forc(const std::vector< double > &fd) override | roboticslab::CartesianControlClient | virtual |
| gcmp() override | roboticslab::CartesianControlClient | virtual |
| getParameter(int vocab, double *value) override | roboticslab::CartesianControlClient | virtual |
| getParameters(std::map< int, double > ¶ms) override | roboticslab::CartesianControlClient | virtual |
| handleRpcConsumerCmd(int vocab, const std::vector< double > &in) (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| handleRpcFunctionCmd(int vocab, const std::vector< double > &in, std::vector< double > &out) (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| handleRpcRunnableCmd(int vocab) (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| handleStreamingBiConsumerCmd(int vocab, const std::vector< double > &in1, double in2) (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| handleStreamingConsumerCmd(int vocab, const std::vector< double > &in) (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| inv(const std::vector< double > &xd, std::vector< double > &q) override | roboticslab::CartesianControlClient | virtual |
| movi(const std::vector< double > &x) override | roboticslab::CartesianControlClient | virtual |
| movj(const std::vector< double > &xd) override | roboticslab::CartesianControlClient | virtual |
| movl(const std::vector< double > &xd) override | roboticslab::CartesianControlClient | virtual |
| movv(const std::vector< double > &xdotd) override | roboticslab::CartesianControlClient | virtual |
| open(yarp::os::Searchable &config) override (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | |
| relj(const std::vector< double > &xd) override | roboticslab::CartesianControlClient | virtual |
| rpcClient (defined in roboticslab::CartesianControlClient) | roboticslab::CartesianControlClient | private |
| setParameter(int vocab, double value) override | roboticslab::CartesianControlClient | virtual |
| setParameters(const std::map< int, double > ¶ms) override | roboticslab::CartesianControlClient | virtual |
| stat(std::vector< double > &x, int *state=nullptr, double *timestamp=nullptr) override | roboticslab::CartesianControlClient | virtual |
| stopControl() override | roboticslab::CartesianControlClient | virtual |
| tool(const std::vector< double > &x) override | roboticslab::CartesianControlClient | virtual |
| twist(const std::vector< double > &xdot) override | roboticslab::CartesianControlClient | virtual |
| wait(double timeout) override | roboticslab::CartesianControlClient | virtual |
| wrench(const std::vector< double > &w) override | roboticslab::CartesianControlClient | virtual |
| ~ICartesianControl()=default | roboticslab::ICartesianControl | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1CartesianControlClient.html b/classroboticslab_1_1CartesianControlClient.html
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+
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+
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+
+
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+|
+ kinematics-dynamics
+
+ |
+
The CartesianControlClient class implements ICartesianControl client side. +
+ +#include <CartesianControlClient.hpp>
+
++Public Member Functions | |
| bool | stat (std::vector< double > &x, int *state=nullptr, double *timestamp=nullptr) override |
| Current state and position. More... | |
| bool | inv (const std::vector< double > &xd, std::vector< double > &q) override |
| Inverse kinematics. More... | |
| bool | movj (const std::vector< double > &xd) override |
| Move in joint space, absolute coordinates. More... | |
| bool | relj (const std::vector< double > &xd) override |
| Move in joint space, relative coordinates. More... | |
| bool | movl (const std::vector< double > &xd) override |
| Linear move to target position. More... | |
| bool | movv (const std::vector< double > &xdotd) override |
| Linear move with given velocity. More... | |
| bool | gcmp () override |
| Gravity compensation. More... | |
| bool | forc (const std::vector< double > &fd) override |
| Force control. More... | |
| bool | stopControl () override |
| Stop control. More... | |
| bool | wait (double timeout) override |
| Wait until completion. More... | |
| bool | tool (const std::vector< double > &x) override |
| Change tool. More... | |
| bool | act (int command) override |
| Actuate tool. More... | |
| void | movi (const std::vector< double > &x) override |
| Achieve pose. More... | |
| void | twist (const std::vector< double > &xdot) override |
| Instantaneous velocity steps. More... | |
| void | wrench (const std::vector< double > &w) override |
| Exert force. More... | |
| bool | setParameter (int vocab, double value) override |
| Set a configuration parameter. More... | |
| bool | getParameter (int vocab, double *value) override |
| Retrieve a configuration parameter. More... | |
| bool | setParameters (const std::map< int, double > ¶ms) override |
| Set multiple configuration parameters. More... | |
| bool | getParameters (std::map< int, double > ¶ms) override |
| Retrieve multiple configuration parameters. More... | |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| Public Member Functions inherited from roboticslab::ICartesianControl | |
| +virtual | ~ICartesianControl ()=default |
| Destructor. | |
+Private Attributes | |
| +yarp::os::RpcClient | rpcClient |
| +yarp::os::BufferedPort< yarp::os::Bottle > | fkInPort |
| +yarp::os::BufferedPort< yarp::os::Bottle > | commandPort |
| +FkStreamResponder | fkStreamResponder |
| +double | fkStreamTimeoutSecs |
+
|
+ +overridevirtual | +
Send control command to actuate the robot's tool, if available.
+| command | One of available actuator vocabs. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Apply desired forces in task space.
+| fd | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Enable gravity compensation.
+Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to retrieve a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to retrieve all available parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics (using robot position as initial guess), but do not move.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| q | Vector describing current position in joint space (meters or degrees). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move to desired position instantaneously, no further intermediate calculations are expected other than computing the inverse kinematics.
+| x | 6-element vector describing desired instantaneous pose in cartesian space; first three elements denote translation (meters), last three denote rotation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics and move to desired position in joint space using absolute coordinates.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move to end position along a line trajectory.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move along a line with constant velocity.
+| xdotd | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Perform inverse kinematics and move to desired position in joint space using relative coordinates.
+| xd | 6-element vector describing desired offset in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to store or update a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Ask the controller to store or update multiple parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Inform on control state, get robot position and perform forward kinematics.
+| x | 6-element vector describing current position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| state | Identifier for a cartesian control vocab. |
| timestamp | Remote encoder acquisition time. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Halt current control loop if any and cease movement.
+Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Unload current tool if any and append new tool frame to the kinematic chain.
+| x | 6-element vector describing new tool tip with regard to current end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Move in instantaneous velocity increments.
+| xdot | 6-element vector describing velocity increments in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Block execution until the movement is completed, errors occur or timeout is reached.
+| timeout | Timeout in seconds, '0.0' means no timeout. |
Implements roboticslab::ICartesianControl.
+ +
+
|
+ +overridevirtual | +
Make the TCP exert the desired force instantaneously.
+| w | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implements roboticslab::ICartesianControl.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1CartesianControlClient.png b/classroboticslab_1_1CartesianControlClient.png
new file mode 100644
index 0000000000000000000000000000000000000000..447db861aa887c694c0c7e93edd5b957720084f2
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::CartesianControlServer, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1CartesianControlServer.html b/classroboticslab_1_1CartesianControlServer.html
new file mode 100644
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
The CartesianControlServer class implements ICartesianControl server side. +
+ +#include <CartesianControlServer.hpp>
+ +Public Member Functions | |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| +void | run () override |
+Protected Attributes | |
| +yarp::dev::PolyDriver | cartesianControlDevice |
| +yarp::os::RpcServer | rpcServer |
| +yarp::os::RpcServer | rpcTransformServer |
| +yarp::os::BufferedPort< yarp::os::Bottle > | fkOutPort |
| +yarp::os::BufferedPort< yarp::os::Bottle > | commandPort |
| +roboticslab::ICartesianControl * | iCartesianControl {nullptr} |
| +RpcResponder * | rpcResponder {nullptr} |
| +RpcResponder * | rpcTransformResponder {nullptr} |
| +StreamResponder * | streamResponder {nullptr} |
| +bool | fkStreamEnabled |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1CartesianControlServer.png b/classroboticslab_1_1CartesianControlServer.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::CentroidTransform, including all inherited members.
+| acceptBottle(yarp::os::Bottle *b) | roboticslab::CentroidTransform | |
| CentroidTransform() | roboticslab::CentroidTransform | |
| lastAcquisition (defined in roboticslab::CentroidTransform) | roboticslab::CentroidTransform | private |
| lastBottle (defined in roboticslab::CentroidTransform) | roboticslab::CentroidTransform | private |
| permanenceTime (defined in roboticslab::CentroidTransform) | roboticslab::CentroidTransform | private |
| processStoredBottle() const | roboticslab::CentroidTransform | |
| registerStreamingDevice(StreamingDevice *streamingDevice) | roboticslab::CentroidTransform | inline |
| rot_tcp_camera (defined in roboticslab::CentroidTransform) | roboticslab::CentroidTransform | private |
| setPermanenceTime(double permanenceTime) | roboticslab::CentroidTransform | inline |
| setTcpToCameraRotation(yarp::os::Bottle *b) | roboticslab::CentroidTransform | |
| streamingDevice (defined in roboticslab::CentroidTransform) | roboticslab::CentroidTransform | private |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1CentroidTransform.html b/classroboticslab_1_1CentroidTransform.html
new file mode 100644
index 000000000..111fabb12
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
... +
+ +#include <CentroidTransform.hpp>
+Public Member Functions | |
| + | CentroidTransform () |
| Constructor. | |
| +void | registerStreamingDevice (StreamingDevice *streamingDevice) |
| Register handle to device. | |
| +bool | setTcpToCameraRotation (yarp::os::Bottle *b) |
| Set TCP to camera frame. | |
| +void | setPermanenceTime (double permanenceTime) |
| Set new permanence time. | |
| +bool | acceptBottle (yarp::os::Bottle *b) |
| Register or dismiss incoming bottle. | |
| +bool | processStoredBottle () const |
| Process last stored bottle. | |
+Private Attributes | |
| +StreamingDevice * | streamingDevice |
| +double | permanenceTime |
| +yarp::os::Bottle | lastBottle |
| +yarp::os::Stamp | lastAcquisition |
| +KDL::Rotation | rot_tcp_camera |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainFkSolverPos__ST-members.html b/classroboticslab_1_1ChainFkSolverPos__ST-members.html
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ChainFkSolverPos_ST, including all inherited members.
+| chain (defined in roboticslab::ChainFkSolverPos_ST) | roboticslab::ChainFkSolverPos_ST | private |
| ChainFkSolverPos_ST(const KDL::Chain &chain) (defined in roboticslab::ChainFkSolverPos_ST) | roboticslab::ChainFkSolverPos_ST | private |
| create(const KDL::Chain &chain) | roboticslab::ChainFkSolverPos_ST | static |
| E_ILLEGAL_ARGUMENT_SIZE | roboticslab::ChainFkSolverPos_ST | static |
| E_OPERATION_NOT_SUPPORTED | roboticslab::ChainFkSolverPos_ST | static |
| JntToCart(const KDL::JntArray &q_in, KDL::Frame &p_out, int segmentNr=-1) override | roboticslab::ChainFkSolverPos_ST | |
| JntToCart(const KDL::JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1) override | roboticslab::ChainFkSolverPos_ST | |
| poe (defined in roboticslab::ChainFkSolverPos_ST) | roboticslab::ChainFkSolverPos_ST | private |
| strError(const int error) const override | roboticslab::ChainFkSolverPos_ST | |
| updateInternalDataStructures() override | roboticslab::ChainFkSolverPos_ST |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainFkSolverPos__ST.html b/classroboticslab_1_1ChainFkSolverPos__ST.html
new file mode 100644
index 000000000..799d95486
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@@ -0,0 +1,353 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
FK solver using Screw Theory. + More...
+ +#include <ChainFkSolverPos_ST.hpp>
+ +Public Member Functions | |
| int | JntToCart (const KDL::JntArray &q_in, KDL::Frame &p_out, int segmentNr=-1) override |
| Perform FK on the selected segment. More... | |
| int | JntToCart (const KDL::JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1) override |
| Perform FK on the selected segments (unsupported) More... | |
| void | updateInternalDataStructures () override |
| Update the internal data structures. More... | |
| const char * | strError (const int error) const override |
| Return a description of the last error. More... | |
+Static Public Member Functions | |
| static KDL::ChainFkSolverPos * | create (const KDL::Chain &chain) |
| Create an instance of ChainFkSolverPos_ST. More... | |
+Static Public Attributes | |
| +static const int | E_OPERATION_NOT_SUPPORTED = -100 |
| Return code, operation not supported. | |
| +static const int | E_ILLEGAL_ARGUMENT_SIZE = -101 |
| Return code, input vector size does not match expected output vector size. | |
+Private Member Functions | |
| + | ChainFkSolverPos_ST (const KDL::Chain &chain) |
+Private Attributes | |
| +const KDL::Chain & | chain |
| +PoeExpression | poe |
Implementation of a forward position kinematics algorithm. This is a thin wrapper around PoeExpression. Methods that retrieve resulting frames for intermediate links are not supported.
+
+
|
+ +static | +
| chain | Input kinematic chain. |
+
|
+ +override | +
| q_in | Input joint coordinates. |
| p_out | Reference to output cartesian pose. |
| segmentNr | Desired segment frame (unsupported). |
+
|
+ +override | +
| q_in | Input joint coordinates. |
| p_out | Reference to a vector of output cartesian poses for all segments. |
| segmentNr | Last selected segment frame. |
+
|
+ +override | +
| error | Error code. |
error is known then a description of error, otherwise "UNKNOWN ERROR".
+
|
+ +override | +
Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainFkSolverPos__ST.png b/classroboticslab_1_1ChainFkSolverPos__ST.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ChainIkSolverPos_ID, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainIkSolverPos__ID.html b/classroboticslab_1_1ChainIkSolverPos__ID.html
new file mode 100644
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
IK solver using infinitesimal displacement twists. + More...
+ +#include <ChainIkSolverPos_ID.hpp>
+ +Public Member Functions | |
| ChainIkSolverPos_ID (const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, KDL::ChainFkSolverPos &fksolver) | |
| Constructor. More... | |
| int | CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override |
| Calculate inverse position kinematics. More... | |
| void | updateInternalDataStructures () override |
| Update the internal data structures. More... | |
| const char * | strError (const int error) const override |
| Return a description of the last error. More... | |
+Static Public Attributes | |
| +static const int | E_FKSOLVERPOS_FAILED = -100 |
| Return code, internal FK position solver failed. | |
| +static const int | E_JACSOLVER_FAILED = -101 |
| Return code, internal Jacobian solver failed. | |
+Private Member Functions | |
| +KDL::JntArray | computeDiffInvKin (const KDL::Twist &delta_twist) |
Re-implementation of KDL::ChainIkSolverPos_NR_JL in which only one iteration step is performed. Aimed to provide a quick means of obtaining IK whenever the displacements are small enough.
+| ChainIkSolverPos_ID::ChainIkSolverPos_ID | +( | +const KDL::Chain & | +chain, | +
| + | + | const KDL::JntArray & | +q_min, | +
| + | + | const KDL::JntArray & | +q_max, | +
| + | + | KDL::ChainFkSolverPos & | +fksolver | +
| + | ) | ++ |
| chain | The chain to calculate the inverse position for. |
| q_min | The minimum joint positions. |
| q_max | The maximum joint positions. |
| fksolver | A forward position kinematics solver. |
| iksolver | An inverse velocity kinematics solver. |
+
|
+ +override | +
| q_init | Initial guess of the joint coordinates (unused). |
| p_in | Input cartesian coordinates. |
| q_out | Output joint coordinates. |
+
|
+ +override | +
| error | Error code. |
error is known then a description of error, otherwise "UNKNOWN ERROR".
+
|
+ +override | +
Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainIkSolverPos__ID.png b/classroboticslab_1_1ChainIkSolverPos__ID.png
new file mode 100644
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zbz8pO)1I4{e$nc;-S+90UJE97WN(=CBxKnv86S&h!IMlbhVnh$+q|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ChainIkSolverPos_ST, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainIkSolverPos__ST.html b/classroboticslab_1_1ChainIkSolverPos__ST.html
new file mode 100644
index 000000000..8dedf4d7b
--- /dev/null
+++ b/classroboticslab_1_1ChainIkSolverPos__ST.html
@@ -0,0 +1,320 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
IK solver using Screw Theory. + More...
+ +#include <ChainIkSolverPos_ST.hpp>
+ +Public Member Functions | |
| +virtual | ~ChainIkSolverPos_ST () |
| Destructor. | |
| int | CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override |
| Calculate inverse position kinematics. More... | |
| void | updateInternalDataStructures () override |
| Update the internal data structures. More... | |
| const char * | strError (const int error) const override |
| Return a description of the last error. More... | |
+Static Public Member Functions | |
| static KDL::ChainIkSolverPos * | create (const KDL::Chain &chain, const ConfigurationSelectorFactory &configFactory) |
| Create an instance of ChainIkSolverPos_ST. More... | |
+Static Public Attributes | |
| +static const int | E_SOLUTION_NOT_FOUND = -100 |
| Return code, IK solution not found. | |
| +static const int | E_OUT_OF_LIMITS = -101 |
| Return code, target pose out of robot limits. | |
| +static const int | E_NOT_REACHABLE = 100 |
| Return code, solution out of reach. | |
+Private Member Functions | |
| + | ChainIkSolverPos_ST (const KDL::Chain &chain, ScrewTheoryIkProblem *problem, ConfigurationSelector *config) |
+Private Attributes | |
| +const KDL::Chain & | chain |
| +ScrewTheoryIkProblem * | problem |
| +ConfigurationSelector * | config |
Implementation of an inverse position kinematics algorithm. This is a thin wrapper around ScrewTheoryIkProblem. Non-exhaustive tests on TEO's (UC3M) right arm kinematic chain reveal that this is 5-10 faster than a numeric Newton-Raphson solver as provided by KDL (e.g. KDL::ChainIkSolverPos_NR_JL).
+
+
|
+ +override | +
| q_init | Initial guess of the joint coordinates (unused). |
| p_in | Input cartesian coordinates. |
| q_out | Output joint coordinates. |
+
|
+ +static | +
| chain | Input kinematic chain. |
| configFactory | Instance of an abstract factory class that instantiates a ConfigurationSelector. |
+
|
+ +override | +
| error | Error code. |
error is known then a description of error, otherwise "UNKNOWN ERROR".
+
|
+ +override | +
Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ChainIkSolverPos__ST.png b/classroboticslab_1_1ChainIkSolverPos__ST.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a56c99fde2298bb26aadd6b985fe933185eef0e
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z1;z&s9ANFdBM;|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelector, including all inherited members.
+| _qMax (defined in roboticslab::ConfigurationSelector) | roboticslab::ConfigurationSelector | protected |
| _qMin (defined in roboticslab::ConfigurationSelector) | roboticslab::ConfigurationSelector | protected |
| configs (defined in roboticslab::ConfigurationSelector) | roboticslab::ConfigurationSelector | protected |
| ConfigurationSelector(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelector | inline |
| configure(const std::vector< KDL::JntArray > &solutions) | roboticslab::ConfigurationSelector | virtual |
| findOptimalConfiguration(const KDL::JntArray &qGuess)=0 | roboticslab::ConfigurationSelector | pure virtual |
| optimalConfig (defined in roboticslab::ConfigurationSelector) | roboticslab::ConfigurationSelector | protected |
| retrievePose(KDL::JntArray &q) const | roboticslab::ConfigurationSelector | inlinevirtual |
| ~ConfigurationSelector()=default | roboticslab::ConfigurationSelector | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelector.html b/classroboticslab_1_1ConfigurationSelector.html
new file mode 100644
index 000000000..79886d7d6
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelector.html
@@ -0,0 +1,295 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstract base class for a robot configuration strategy selector. +
+ +#include <ConfigurationSelector.hpp>
+
++Classes | |
| class | Configuration |
| Helper class to store a specific robot configuration. More... | |
+Public Member Functions | |
| ConfigurationSelector (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| +virtual | ~ConfigurationSelector ()=default |
| Destructor. | |
| virtual bool | configure (const std::vector< KDL::JntArray > &solutions) |
| Stores initial values for a specific pose. More... | |
| virtual bool | findOptimalConfiguration (const KDL::JntArray &qGuess)=0 |
| Analyzes available configurations and selects the optimal one. More... | |
| virtual void | retrievePose (KDL::JntArray &q) const |
| Queries computed joint values for the optimal configuration. More... | |
+Protected Attributes | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
| +Configuration | optimalConfig |
| +std::vector< Configuration > | configs |
+
|
+ +inline | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +virtual | +
| solutions | Vector of joint arrays that represent all available (valid or not) robot joint poses. |
+
|
+ +pure virtual | +
| qGuess | Joint array of values for current robot position. |
Implemented in roboticslab::ConfigurationSelectorHumanoidGait, and roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement.
+ +
+
|
+ +inlinevirtual | +
| q | Output joint array. |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelector.png b/classroboticslab_1_1ConfigurationSelector.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4665c964984570fe3ab2fde06ba61e4599855e7
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelectorFactory, including all inherited members.
+| _qMax (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| _qMin (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| ConfigurationSelectorFactory(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelectorFactory | inlineprotected |
| create() const =0 | roboticslab::ConfigurationSelectorFactory | pure virtual |
| ~ConfigurationSelectorFactory()=default (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorFactory.html b/classroboticslab_1_1ConfigurationSelectorFactory.html
new file mode 100644
index 000000000..cb73c6601
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelectorFactory.html
@@ -0,0 +1,205 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Base factory class for ConfigurationSelector. + More...
+ +#include <ConfigurationSelector.hpp>
+
++Public Member Functions | |
| virtual ConfigurationSelector * | create () const =0 |
| Creates an instance of the concrete class. More... | |
+Protected Member Functions | |
| ConfigurationSelectorFactory (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
+Protected Attributes | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
Acts as the base class in the abstract factory pattern, encapsulates individual factories.
+
+
|
+ +inlineprotected | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +pure virtual | +
Implemented in roboticslab::ConfigurationSelectorHumanoidGaitFactory, and roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorFactory.png b/classroboticslab_1_1ConfigurationSelectorFactory.png
new file mode 100644
index 0000000000000000000000000000000000000000..0efb8245c59eb7188902c338dc6a3b3ea1cd55ad
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelectorHumanoidGait, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorHumanoidGait.html b/classroboticslab_1_1ConfigurationSelectorHumanoidGait.html
new file mode 100644
index 000000000..9ff9122e6
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelectorHumanoidGait.html
@@ -0,0 +1,254 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
IK solver configuration strategy selector based on human walking. + More...
+ +#include <ConfigurationSelector.hpp>
+
++Public Member Functions | |
| ConfigurationSelectorHumanoidGait (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| bool | findOptimalConfiguration (const KDL::JntArray &qGuess) override |
| Analyzes available configurations and selects the optimal one. More... | |
| Public Member Functions inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement | |
| ConfigurationSelectorLeastOverallAngularDisplacement (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| Public Member Functions inherited from roboticslab::ConfigurationSelector | |
| ConfigurationSelector (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| +virtual | ~ConfigurationSelector ()=default |
| Destructor. | |
| virtual bool | configure (const std::vector< KDL::JntArray > &solutions) |
| Stores initial values for a specific pose. More... | |
| virtual void | retrievePose (KDL::JntArray &q) const |
| Queries computed joint values for the optimal configuration. More... | |
+Private Member Functions | |
| +bool | applyConstraints (const Configuration &config) |
| Determines whether the configuration is valid according to this selector's premises. | |
+Additional Inherited Members | |
| Protected Member Functions inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement | |
| +std::vector< double > | getDiffs (const KDL::JntArray &qGuess, const Configuration &config) |
| Obtains vector of differences between current and desired joint values. | |
| Protected Attributes inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement | |
| +int | lastValid |
| Protected Attributes inherited from roboticslab::ConfigurationSelector | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
| +Configuration | optimalConfig |
| +std::vector< Configuration > | configs |
| Static Protected Attributes inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement | |
| +static const int | INVALID_CONFIG = -1 |
Intended for use on lower-body limbs, specifically UC3M TEO's 6-DOF legs. Discards non-human-like configurations, such as the inverted knee pose.
+
+
|
+ +inline | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +overridevirtual | +
| qGuess | Joint array of values for current robot position. |
Reimplemented from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorHumanoidGait.png b/classroboticslab_1_1ConfigurationSelectorHumanoidGait.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelectorHumanoidGaitFactory, including all inherited members.
+| _qMax (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| _qMin (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| ConfigurationSelectorFactory(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelectorFactory | inlineprotected |
| ConfigurationSelectorHumanoidGaitFactory(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelectorHumanoidGaitFactory | inline |
| create() const override | roboticslab::ConfigurationSelectorHumanoidGaitFactory | inlinevirtual |
| ~ConfigurationSelectorFactory()=default (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorHumanoidGaitFactory.html b/classroboticslab_1_1ConfigurationSelectorHumanoidGaitFactory.html
new file mode 100644
index 000000000..8f7ccd841
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelectorHumanoidGaitFactory.html
@@ -0,0 +1,204 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Implementation factory class for ConfigurationSelectorHumanoidGait. + More...
+ +#include <ConfigurationSelector.hpp>
+
++Public Member Functions | |
| ConfigurationSelectorHumanoidGaitFactory (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| ConfigurationSelector * | create () const override |
| Creates an instance of the concrete class. More... | |
+Additional Inherited Members | |
| Protected Member Functions inherited from roboticslab::ConfigurationSelectorFactory | |
| ConfigurationSelectorFactory (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| Protected Attributes inherited from roboticslab::ConfigurationSelectorFactory | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
Implements ConfigurationSelectorFactory::create.
+
+
|
+ +inline | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +inlineoverridevirtual | +
Implements roboticslab::ConfigurationSelectorFactory.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorHumanoidGaitFactory.png b/classroboticslab_1_1ConfigurationSelectorHumanoidGaitFactory.png
new file mode 100644
index 0000000000000000000000000000000000000000..afa98aa707477a292b528bde9089d3a1043f6e93
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literal 1113
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacement.html b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacement.html
new file mode 100644
index 000000000..c5033f002
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacement.html
@@ -0,0 +1,250 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
IK solver configuration strategy selector based on the overall displacement of all joints. + More...
+ +#include <ConfigurationSelector.hpp>
+
++Public Member Functions | |
| ConfigurationSelectorLeastOverallAngularDisplacement (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| bool | findOptimalConfiguration (const KDL::JntArray &qGuess) override |
| Analyzes available configurations and selects the optimal one. More... | |
| Public Member Functions inherited from roboticslab::ConfigurationSelector | |
| ConfigurationSelector (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| +virtual | ~ConfigurationSelector ()=default |
| Destructor. | |
| virtual bool | configure (const std::vector< KDL::JntArray > &solutions) |
| Stores initial values for a specific pose. More... | |
| virtual void | retrievePose (KDL::JntArray &q) const |
| Queries computed joint values for the optimal configuration. More... | |
+Protected Member Functions | |
| +std::vector< double > | getDiffs (const KDL::JntArray &qGuess, const Configuration &config) |
| Obtains vector of differences between current and desired joint values. | |
+Protected Attributes | |
| +int | lastValid |
| Protected Attributes inherited from roboticslab::ConfigurationSelector | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
| +Configuration | optimalConfig |
| +std::vector< Configuration > | configs |
+Static Protected Attributes | |
| +static const int | INVALID_CONFIG = -1 |
Selects the configuration that entails the lowest sum of displacements across all joints. Works best for all revolute/all prismatic chain types. If attainable, it retains the previous configuration after the first successful choice and discards all other configs for the rest of the instance's lifetime.
+
+
|
+ +inline | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +overridevirtual | +
| qGuess | Joint array of values for current robot position. |
Implements roboticslab::ConfigurationSelector.
+ +Reimplemented in roboticslab::ConfigurationSelectorHumanoidGait.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacement.png b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacement.png
new file mode 100644
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zRDytPE+`~|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory, including all inherited members.
+| _qMax (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| _qMin (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | protected |
| ConfigurationSelectorFactory(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelectorFactory | inlineprotected |
| ConfigurationSelectorLeastOverallAngularDisplacementFactory(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory | inline |
| create() const override | roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory | inlinevirtual |
| ~ConfigurationSelectorFactory()=default (defined in roboticslab::ConfigurationSelectorFactory) | roboticslab::ConfigurationSelectorFactory | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacementFactory.html b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacementFactory.html
new file mode 100644
index 000000000..9f5a4e45e
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacementFactory.html
@@ -0,0 +1,204 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Implementation factory class for ConfigurationSelectorLeastOverallAngularDisplacement. + More...
+ +#include <ConfigurationSelector.hpp>
+
++Public Member Functions | |
| ConfigurationSelectorLeastOverallAngularDisplacementFactory (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| ConfigurationSelector * | create () const override |
| Creates an instance of the concrete class. More... | |
+Additional Inherited Members | |
| Protected Member Functions inherited from roboticslab::ConfigurationSelectorFactory | |
| ConfigurationSelectorFactory (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| Protected Attributes inherited from roboticslab::ConfigurationSelectorFactory | |
| +KDL::JntArray | _qMin |
| +KDL::JntArray | _qMax |
Implements ConfigurationSelectorFactory::create.
+
+
|
+ +inline | +
| qMin | Joint array of minimum joint limits. |
| qMax | Joint array of maximum joint limits. |
+
|
+ +inlineoverridevirtual | +
Implements roboticslab::ConfigurationSelectorFactory.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacementFactory.png b/classroboticslab_1_1ConfigurationSelectorLeastOverallAngularDisplacementFactory.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ConfigurationSelector::Configuration, including all inherited members.
+| Configuration() | roboticslab::ConfigurationSelector::Configuration | inline |
| invalidate() | roboticslab::ConfigurationSelector::Configuration | inline |
| isValid() const | roboticslab::ConfigurationSelector::Configuration | inline |
| q (defined in roboticslab::ConfigurationSelector::Configuration) | roboticslab::ConfigurationSelector::Configuration | private |
| retrievePose() const | roboticslab::ConfigurationSelector::Configuration | inline |
| store(const KDL::JntArray *q) | roboticslab::ConfigurationSelector::Configuration | inline |
| valid (defined in roboticslab::ConfigurationSelector::Configuration) | roboticslab::ConfigurationSelector::Configuration | private |
| validate(const KDL::JntArray &qMin, const KDL::JntArray &qMax) | roboticslab::ConfigurationSelector::Configuration |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ConfigurationSelector_1_1Configuration.html b/classroboticslab_1_1ConfigurationSelector_1_1Configuration.html
new file mode 100644
index 000000000..ad5f41de7
--- /dev/null
+++ b/classroboticslab_1_1ConfigurationSelector_1_1Configuration.html
@@ -0,0 +1,135 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Helper class to store a specific robot configuration. +
+ +#include <ConfigurationSelector.hpp>
+Public Member Functions | |
| + | Configuration () |
| Constructor. | |
| +void | store (const KDL::JntArray *q) |
| Initializes joint values. | |
| +void | validate (const KDL::JntArray &qMin, const KDL::JntArray &qMax) |
| Checks reachability against provided joint limits. | |
| +const KDL::JntArray * | retrievePose () const |
| Retrieves stored joint values. | |
| +bool | isValid () const |
| Whether this configuration is attainable or not. | |
| +void | invalidate () |
| Mark this configuration as invalid. | |
+Private Attributes | |
| +const KDL::JntArray * | q |
| +bool | valid |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1FkStreamResponder-members.html b/classroboticslab_1_1FkStreamResponder-members.html
new file mode 100644
index 000000000..4583cad23
--- /dev/null
+++ b/classroboticslab_1_1FkStreamResponder-members.html
@@ -0,0 +1,96 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::FkStreamResponder, including all inherited members.
+| FkStreamResponder() (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | |
| getLastStatData(std::vector< double > &x, int *state, double *timestamp, double timeout) (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | |
| localArrivalTime (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | private |
| mtx (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | mutableprivate |
| onRead(yarp::os::Bottle &b) override (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | |
| state (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | private |
| timestamp (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | private |
| x (defined in roboticslab::FkStreamResponder) | roboticslab::FkStreamResponder | private |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1FkStreamResponder.html b/classroboticslab_1_1FkStreamResponder.html
new file mode 100644
index 000000000..82998756d
--- /dev/null
+++ b/classroboticslab_1_1FkStreamResponder.html
@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Responds to streaming FK messages. +
+ +#include <CartesianControlClient.hpp>
+ +Public Member Functions | |
| +void | onRead (yarp::os::Bottle &b) override |
| +bool | getLastStatData (std::vector< double > &x, int *state, double *timestamp, double timeout) |
+Private Attributes | |
| +double | localArrivalTime |
| +int | state |
| +double | timestamp |
| +std::vector< double > | x |
| +std::mutex | mtx |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1FkStreamResponder.png b/classroboticslab_1_1FkStreamResponder.png
new file mode 100644
index 0000000000000000000000000000000000000000..077ba5078652a008aac1684777001482ef895667
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::FtCompensation, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1FtCompensation.html b/classroboticslab_1_1FtCompensation.html
new file mode 100644
index 000000000..85cbf9a7d
--- /dev/null
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@@ -0,0 +1,222 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Produces motion in the direction of an externally applied force measured by a force-torque sensor (pretty much mimicking a classical gravity compensation app). +
+ +#include <FtCompensation.hpp>
+ +Protected Member Functions | |
| +void | run () override |
+Private Types | |
| +using | cartesian_cmd = void(ICartesianControl::*)(const std::vector< double > &) |
+Private Member Functions | |
| +bool | readSensor (KDL::Wrench &wrench) const |
| +bool | compensateTool (KDL::Wrench &wrench) const |
| +bool | applyImpedance (KDL::Wrench &wrench) |
+Private Attributes | |
| +yarp::dev::PolyDriver | cartesianDevice |
| +ICartesianControl * | iCartesianControl |
| +int | sensorIndex |
| +yarp::dev::PolyDriver | sensorDevice |
| +yarp::dev::ISixAxisForceTorqueSensors * | sensor |
| +KDL::Rotation | R_N_sensor |
| +KDL::Vector | toolCoM_N |
| +KDL::Wrench | toolWeight_0 |
| +KDL::Wrench | initialOffset |
| +KDL::Frame | initialPose |
| +KDL::Frame | previousPose |
| +cartesian_cmd | command |
| +bool | dryRun |
| +bool | usingTool |
| +bool | enableImpedance |
| +double | linGain |
| +double | rotGain |
| +double | linStiffness |
| +double | rotStiffness |
| +double | linDamping |
| +double | rotDamping |
| +double | forceDeadband |
| +double | torqueDeadband |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1FtCompensation.png b/classroboticslab_1_1FtCompensation.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::GrabberResponder, including all inherited members.
+| GrabberResponder() (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | inline |
| iCartesianControl (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | private |
| isStopped (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | private |
| noApproach (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | private |
| onRead(yarp::os::Bottle &b) override (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | |
| setICartesianControlDriver(roboticslab::ICartesianControl *iCartesianControl) (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | inline |
| setNoApproachSetting(bool noApproach) (defined in roboticslab::GrabberResponder) | roboticslab::GrabberResponder | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1GrabberResponder.html b/classroboticslab_1_1GrabberResponder.html
new file mode 100644
index 000000000..2f7b64593
--- /dev/null
+++ b/classroboticslab_1_1GrabberResponder.html
@@ -0,0 +1,129 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Callback class for dealing with incoming grabber data streams. +
+ +#include <GrabberResponder.hpp>
+ +Public Member Functions | |
| +void | onRead (yarp::os::Bottle &b) override |
| +void | setICartesianControlDriver (roboticslab::ICartesianControl *iCartesianControl) |
| +void | setNoApproachSetting (bool noApproach) |
+Private Attributes | |
| +roboticslab::ICartesianControl * | iCartesianControl |
| +bool | isStopped |
| +bool | noApproach |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1GrabberResponder.png b/classroboticslab_1_1GrabberResponder.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1952a7f7ef986f9dcbd86855212a8394ef62492
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::HaarDetectionController, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1HaarDetectionController.html b/classroboticslab_1_1HaarDetectionController.html
new file mode 100644
index 000000000..08ff12603
--- /dev/null
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@@ -0,0 +1,147 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Create seek-and-follow trajectories based on Haar detection algorithms. +
+ +#include <HaarDetectionController.hpp>
+ +Private Attributes | |
| +GrabberResponder | grabberResponder |
| +yarp::os::BufferedPort< yarp::os::Bottle > | grabberPort |
| +yarp::dev::PolyDriver | cartesianControlDevice |
| +roboticslab::ICartesianControl * | iCartesianControl |
| +yarp::dev::PolyDriver | sensorsClientDevice |
| +roboticslab::IProximitySensors * | iProximitySensors |
| +double | period |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1HaarDetectionController.png b/classroboticslab_1_1HaarDetectionController.png
new file mode 100644
index 0000000000000000000000000000000000000000..58fd767c92dda4b9bb12507b44943fe7ee0ce8fc
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ICartesianControl, including all inherited members.
+| act(int command)=0 | roboticslab::ICartesianControl | pure virtual |
| forc(const std::vector< double > &fd)=0 | roboticslab::ICartesianControl | pure virtual |
| gcmp()=0 | roboticslab::ICartesianControl | pure virtual |
| getParameter(int vocab, double *value)=0 | roboticslab::ICartesianControl | pure virtual |
| getParameters(std::map< int, double > ¶ms)=0 | roboticslab::ICartesianControl | pure virtual |
| inv(const std::vector< double > &xd, std::vector< double > &q)=0 | roboticslab::ICartesianControl | pure virtual |
| movi(const std::vector< double > &x)=0 | roboticslab::ICartesianControl | pure virtual |
| movj(const std::vector< double > &xd)=0 | roboticslab::ICartesianControl | pure virtual |
| movl(const std::vector< double > &xd)=0 | roboticslab::ICartesianControl | pure virtual |
| movv(const std::vector< double > &xdotd)=0 | roboticslab::ICartesianControl | pure virtual |
| relj(const std::vector< double > &xd)=0 | roboticslab::ICartesianControl | pure virtual |
| setParameter(int vocab, double value)=0 | roboticslab::ICartesianControl | pure virtual |
| setParameters(const std::map< int, double > ¶ms)=0 | roboticslab::ICartesianControl | pure virtual |
| stat(std::vector< double > &x, int *state=nullptr, double *timestamp=nullptr)=0 | roboticslab::ICartesianControl | pure virtual |
| stopControl()=0 | roboticslab::ICartesianControl | pure virtual |
| tool(const std::vector< double > &x)=0 | roboticslab::ICartesianControl | pure virtual |
| twist(const std::vector< double > &xdot)=0 | roboticslab::ICartesianControl | pure virtual |
| wait(double timeout=0.0)=0 | roboticslab::ICartesianControl | pure virtual |
| wrench(const std::vector< double > &w)=0 | roboticslab::ICartesianControl | pure virtual |
| ~ICartesianControl()=default | roboticslab::ICartesianControl | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ICartesianControl.html b/classroboticslab_1_1ICartesianControl.html
new file mode 100644
index 000000000..ea8942451
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+++ b/classroboticslab_1_1ICartesianControl.html
@@ -0,0 +1,904 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstract base class for a cartesian controller. +
+ +#include <ICartesianControl.h>
+
++Public Member Functions | |
| +virtual | ~ICartesianControl ()=default |
| Destructor. | |
RPC commands | |
| virtual bool | stat (std::vector< double > &x, int *state=nullptr, double *timestamp=nullptr)=0 |
| Current state and position. More... | |
| virtual bool | inv (const std::vector< double > &xd, std::vector< double > &q)=0 |
| Inverse kinematics. More... | |
| virtual bool | movj (const std::vector< double > &xd)=0 |
| Move in joint space, absolute coordinates. More... | |
| virtual bool | relj (const std::vector< double > &xd)=0 |
| Move in joint space, relative coordinates. More... | |
| virtual bool | movl (const std::vector< double > &xd)=0 |
| Linear move to target position. More... | |
| virtual bool | movv (const std::vector< double > &xdotd)=0 |
| Linear move with given velocity. More... | |
| virtual bool | gcmp ()=0 |
| Gravity compensation. More... | |
| virtual bool | forc (const std::vector< double > &fd)=0 |
| Force control. More... | |
| virtual bool | stopControl ()=0 |
| Stop control. More... | |
| virtual bool | wait (double timeout=0.0)=0 |
| Wait until completion. More... | |
| virtual bool | tool (const std::vector< double > &x)=0 |
| Change tool. More... | |
| virtual bool | act (int command)=0 |
| Actuate tool. More... | |
Streaming commands | |
| virtual void | movi (const std::vector< double > &x)=0 |
| Achieve pose. More... | |
| virtual void | twist (const std::vector< double > &xdot)=0 |
| Instantaneous velocity steps. More... | |
| virtual void | wrench (const std::vector< double > &w)=0 |
| Exert force. More... | |
Configuration accessors | |
| virtual bool | setParameter (int vocab, double value)=0 |
| Set a configuration parameter. More... | |
| virtual bool | getParameter (int vocab, double *value)=0 |
| Retrieve a configuration parameter. More... | |
| virtual bool | setParameters (const std::map< int, double > ¶ms)=0 |
| Set multiple configuration parameters. More... | |
| virtual bool | getParameters (std::map< int, double > ¶ms)=0 |
| Retrieve multiple configuration parameters. More... | |
+
|
+ +pure virtual | +
Send control command to actuate the robot's tool, if available.
+| command | One of available actuator vocabs. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Apply desired forces in task space.
+| fd | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Enable gravity compensation.
+Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Ask the controller to retrieve a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Ask the controller to retrieve all available parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Perform inverse kinematics (using robot position as initial guess), but do not move.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| q | Vector describing current position in joint space (meters or degrees). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Move to desired position instantaneously, no further intermediate calculations are expected other than computing the inverse kinematics.
+| x | 6-element vector describing desired instantaneous pose in cartesian space; first three elements denote translation (meters), last three denote rotation (radians). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Perform inverse kinematics and move to desired position in joint space using absolute coordinates.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Move to end position along a line trajectory.
+| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Move along a line with constant velocity.
+| xdotd | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Perform inverse kinematics and move to desired position in joint space using relative coordinates.
+| xd | 6-element vector describing desired offset in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Ask the controller to store or update a parameter of 'double' type.
+| vocab | YARP-encoded vocab (parameter key). |
| value | Parameter value encoded as a double. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Ask the controller to store or update multiple parameters at once.
+| params | Dictionary of YARP-encoded vocabs as keys and their values. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Inform on control state, get robot position and perform forward kinematics.
+| x | 6-element vector describing current position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| state | Identifier for a cartesian control vocab. |
| timestamp | Remote encoder acquisition time. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Halt current control loop if any and cease movement.
+Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Unload current tool if any and append new tool frame to the kinematic chain.
+| x | 6-element vector describing new tool tip with regard to current end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Move in instantaneous velocity increments.
+| xdot | 6-element vector describing velocity increments in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Block execution until the movement is completed, errors occur or timeout is reached.
+| timeout | Timeout in seconds, '0.0' means no timeout. |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ +
+
|
+ +pure virtual | +
Make the TCP exert the desired force instantaneously.
+| w | 6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters). |
Implemented in roboticslab::CartesianControlClient, and roboticslab::BasicCartesianControl.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ICartesianControl.png b/classroboticslab_1_1ICartesianControl.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f81919bcc7630984f2d587eb918e8b52082050
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ICartesianSolver, including all inherited members.
+| appendLink(const std::vector< double > &x)=0 | roboticslab::ICartesianSolver | pure virtual |
| BASE_FRAME enum value | roboticslab::ICartesianSolver | |
| changeOrigin(const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj)=0 | roboticslab::ICartesianSolver | pure virtual |
| diffInvKin(const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame=BASE_FRAME)=0 | roboticslab::ICartesianSolver | pure virtual |
| fwdKin(const std::vector< double > &q, std::vector< double > &x)=0 | roboticslab::ICartesianSolver | pure virtual |
| getNumJoints()=0 | roboticslab::ICartesianSolver | pure virtual |
| getNumTcps()=0 | roboticslab::ICartesianSolver | pure virtual |
| invDyn(const std::vector< double > &q, std::vector< double > &t)=0 | roboticslab::ICartesianSolver | pure virtual |
| invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) | roboticslab::ICartesianSolver | inlinevirtual |
| invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame=BASE_FRAME)=0 | roboticslab::ICartesianSolver | pure virtual |
| invKin(const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame=BASE_FRAME)=0 | roboticslab::ICartesianSolver | pure virtual |
| poseDiff(const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut)=0 | roboticslab::ICartesianSolver | pure virtual |
| reference_frame enum name | roboticslab::ICartesianSolver | |
| restoreOriginalChain()=0 | roboticslab::ICartesianSolver | pure virtual |
| TCP_FRAME enum value | roboticslab::ICartesianSolver | |
| ~ICartesianSolver()=default | roboticslab::ICartesianSolver | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ICartesianSolver.html b/classroboticslab_1_1ICartesianSolver.html
new file mode 100644
index 000000000..faf95e3fe
--- /dev/null
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@@ -0,0 +1,760 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstract base class for a cartesian solver. +
+ +#include <ICartesianSolver.h>
+
++Public Types | |
| enum | reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') +, TCP_FRAME = yarp::os::createVocab32('c','p','f','t') + } |
| Lists supported reference frames. More... | |
+Public Member Functions | |
| +virtual | ~ICartesianSolver ()=default |
| Destructor. | |
| virtual int | getNumJoints ()=0 |
| Get number of joints for which the solver has been configured. More... | |
| virtual int | getNumTcps ()=0 |
| Get number of TCPs for which the solver has been configured. More... | |
| virtual bool | appendLink (const std::vector< double > &x)=0 |
| Append an additional link. More... | |
| virtual bool | restoreOriginalChain ()=0 |
| Restore original kinematic chain. More... | |
| virtual bool | changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj)=0 |
| Change origin in which a pose is expressed. More... | |
| virtual bool | fwdKin (const std::vector< double > &q, std::vector< double > &x)=0 |
| Perform forward kinematics. More... | |
| virtual bool | poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut)=0 |
| Obtain difference between supplied pose inputs. More... | |
| virtual bool | invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame=BASE_FRAME)=0 |
| Perform inverse kinematics. More... | |
| virtual bool | diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame=BASE_FRAME)=0 |
| Perform differential inverse kinematics. More... | |
| virtual bool | invDyn (const std::vector< double > &q, std::vector< double > &t)=0 |
| Perform inverse dynamics. More... | |
| virtual bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) |
| Perform inverse dynamics. More... | |
| virtual bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame=BASE_FRAME)=0 |
| Perform inverse dynamics. More... | |
| enum roboticslab::ICartesianSolver::reference_frame | +
+
|
+ +pure virtual | +
| x | 6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
| x_old_obj_in | 6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_old | 6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_obj | 6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| xdot | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
| qdot | Vector describing target velocity in joint space (meters/second or degrees/second). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
| q | Vector describing a position in joint space (meters or degrees). |
| x | 6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| qdot | Vector describing current velocity in joint space (meters/second or degrees/second). |
| qdotdot | Vector describing current acceleration in joint space (meters/secondยฒ or degrees/secondยฒ). |
| ftip | Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| frame | Points at the reference_frame ftip is expressed in. |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +inlinevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| qdot | Vector describing current velocity in joint space (meters/second or degrees/second). |
| qdotdot | Vector describing current acceleration in joint space (meters/secondยฒ or degrees/secondยฒ). |
| fexts | vector of external forces applied to each robot segment, expressed in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
+
|
+ +pure virtual | +
Assumes null joint velocities and accelerations, and no external forces.
+| q | Vector describing current position in joint space (meters or degrees). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| qGuess | Vector describing current position in joint space (meters or degrees). |
| q | Vector describing target position in joint space (meters or degrees). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.
+| xLhs | 6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xRhs | 6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xOut | 6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ +
+
|
+ +pure virtual | +
Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ICartesianSolver.png b/classroboticslab_1_1ICartesianSolver.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e1c41f952ccf9e6c6173ec227378d48378d6f8f
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zvhv<3Pw#(O)^uoL<|;kENs~98dbc{+b@e5o`Em?@J(nN|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::InvalidDevice, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1InvalidDevice.html b/classroboticslab_1_1InvalidDevice.html
new file mode 100644
index 000000000..a2fbc568b
--- /dev/null
+++ b/classroboticslab_1_1InvalidDevice.html
@@ -0,0 +1,258 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Represents an invalid device. + More...
+ +#include <StreamingDevice.hpp>
+
++Public Member Functions | |
| + | InvalidDevice () |
| Creates an invalid device. | |
| bool | acquireInterfaces () override |
| Acquires plugin interfaces. More... | |
| bool | acquireData () override |
| Acquires data from remote device. More... | |
| void | sendMovementCommand (double timestamp) override |
| Sends movement command to the cartesian controller. More... | |
| +void | stopMotion () override |
| Sends a movement command that would stop motion. | |
| Public Member Functions inherited from roboticslab::StreamingDevice | |
| StreamingDevice (yarp::os::Searchable &config) | |
| Constructor. More... | |
| +virtual | ~StreamingDevice () |
| Destructor. | |
| virtual bool | initialize (bool usingStreamingPreset) |
| Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired. More... | |
| virtual bool | transformData (double scaling) |
| Performs required operations on stored data. More... | |
| virtual int | getActuatorState () |
| If actuator command data is available, return its current state. More... | |
| virtual bool | hasValidMovementData () const |
| Checks whether the device may forward acquired and processed data to the controller. More... | |
| void | setCartesianControllerHandle (ICartesianControl *iCartesianControl) |
| Stores handle to an ICartesianControl instance. More... | |
+Additional Inherited Members | |
| Protected Attributes inherited from roboticslab::StreamingDevice | |
| +ICartesianControl * | iCartesianControl |
| +std::vector< double > | data |
| +std::vector< bool > | fixedAxes |
| +int | actuatorState |
A call to isValid() and other interface methods should yield false.
+
+
|
+ +inlineoverridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +inlineoverridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +inlineoverridevirtual | +
| timestamp | Current timestamp. |
Implements roboticslab::StreamingDevice.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1InvalidDevice.png b/classroboticslab_1_1InvalidDevice.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a02c2dbe56595f6005e3d1779c83b08acf5b45c
GIT binary patch
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z?MUZSRq1B^`Kwv%8q9aD^?0PO*kUk=W7Vq1CmKUTt51Q5SIh_4*``g&TYE}|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::KdlSolver, including all inherited members.
+| appendLink(const std::vector< double > &x) override | roboticslab::KdlSolver | virtual |
| BASE_FRAME enum value | roboticslab::ICartesianSolver | |
| chain | roboticslab::KdlSolver | private |
| changeOrigin(const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override | roboticslab::KdlSolver | virtual |
| close() override (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | |
| diffInvKin(const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override | roboticslab::KdlSolver | virtual |
| fkSolverPos (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | private |
| fwdKin(const std::vector< double > &q, std::vector< double > &x) override | roboticslab::KdlSolver | virtual |
| getNumJoints() override | roboticslab::KdlSolver | virtual |
| getNumTcps() override | roboticslab::KdlSolver | virtual |
| idSolver (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | private |
| ikSolverPos (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | private |
| ikSolverVel (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | private |
| invDyn(const std::vector< double > &q, std::vector< double > &t) override | roboticslab::KdlSolver | virtual |
| invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override | roboticslab::KdlSolver | virtual |
| roboticslab::ICartesianSolver::invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) | roboticslab::ICartesianSolver | inlinevirtual |
| invKin(const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override | roboticslab::KdlSolver | virtual |
| isQuiet (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | private |
| logc() const (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | inlineprivate |
| mtx (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | mutableprivate |
| open(yarp::os::Searchable &config) override (defined in roboticslab::KdlSolver) | roboticslab::KdlSolver | |
| originalChain | roboticslab::KdlSolver | private |
| poseDiff(const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override | roboticslab::KdlSolver | virtual |
| reference_frame enum name | roboticslab::ICartesianSolver | |
| restoreOriginalChain() override | roboticslab::KdlSolver | virtual |
| TCP_FRAME enum value | roboticslab::ICartesianSolver | |
| ~ICartesianSolver()=default | roboticslab::ICartesianSolver | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1KdlSolver.html b/classroboticslab_1_1KdlSolver.html
new file mode 100644
index 000000000..708c4c875
--- /dev/null
+++ b/classroboticslab_1_1KdlSolver.html
@@ -0,0 +1,761 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
The KdlSolver class implements ICartesianSolver. +
+ +#include <KdlSolver.hpp>
+
++Public Member Functions | |
| int | getNumJoints () override |
| Get number of joints for which the solver has been configured. More... | |
| int | getNumTcps () override |
| Get number of TCPs for which the solver has been configured. More... | |
| bool | appendLink (const std::vector< double > &x) override |
| Append an additional link. More... | |
| bool | restoreOriginalChain () override |
| Restore original kinematic chain. More... | |
| bool | changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override |
| Change origin in which a pose is expressed. More... | |
| bool | fwdKin (const std::vector< double > &q, std::vector< double > &x) override |
| Perform forward kinematics. More... | |
| bool | poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override |
| Obtain difference between supplied pose inputs. More... | |
| bool | invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override |
| Perform inverse kinematics. More... | |
| bool | diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override |
| Perform differential inverse kinematics. More... | |
| bool | invDyn (const std::vector< double > &q, std::vector< double > &t) override |
| Perform inverse dynamics. More... | |
| bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override |
| Perform inverse dynamics. More... | |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| Public Member Functions inherited from roboticslab::ICartesianSolver | |
| +virtual | ~ICartesianSolver ()=default |
| Destructor. | |
| virtual bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) |
| Perform inverse dynamics. More... | |
+Private Member Functions | |
| +const yarp::os::LogComponent & | logc () const |
+Private Attributes | |
| +std::mutex | mtx |
| KDL::Chain | chain |
| KDL::Chain | originalChain |
| +KDL::ChainFkSolverPos * | fkSolverPos {nullptr} |
| +KDL::ChainIkSolverPos * | ikSolverPos {nullptr} |
| +KDL::ChainIkSolverVel * | ikSolverVel {nullptr} |
| +KDL::ChainIdSolver * | idSolver {nullptr} |
| +bool | isQuiet |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ICartesianSolver | |
| enum | reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') +, TCP_FRAME = yarp::os::createVocab32('c','p','f','t') + } |
| Lists supported reference frames. More... | |
+
|
+ +overridevirtual | +
| x | 6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| x_old_obj_in | 6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_old | 6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_obj | 6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| xdot | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
| qdot | Vector describing target velocity in joint space (meters/second or degrees/second). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing a position in joint space (meters or degrees). |
| x | 6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| qdot | Vector describing current velocity in joint space (meters/second or degrees/second). |
| qdotdot | Vector describing current acceleration in joint space (meters/secondยฒ or degrees/secondยฒ). |
| ftip | Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| frame | Points at the reference_frame ftip is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Assumes null joint velocities and accelerations, and no external forces.
+| q | Vector describing current position in joint space (meters or degrees). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| qGuess | Vector describing current position in joint space (meters or degrees). |
| q | Vector describing target position in joint space (meters or degrees). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.
+| xLhs | 6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xRhs | 6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xOut | 6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +private | +
The chain.
+ +
+
|
+ +private | +
To store a copy of the original chain.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1KdlSolver.png b/classroboticslab_1_1KdlSolver.png
new file mode 100644
index 0000000000000000000000000000000000000000..4769dcbf6154fff4b7128bf56a4c0f017cbf8be2
GIT binary patch
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z09jys;J^Xa&O7ozE=Ng_UoZnu5eQs86=KA|z|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::KdlTreeSolver, including all inherited members.
+| appendLink(const std::vector< double > &x) override | roboticslab::KdlTreeSolver | virtual |
| BASE_FRAME enum value | roboticslab::ICartesianSolver | |
| changeOrigin(const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override | roboticslab::KdlTreeSolver | virtual |
| close() override (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | |
| diffInvKin(const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override | roboticslab::KdlTreeSolver | virtual |
| endpoints (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| fkSolverPos (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| fwdKin(const std::vector< double > &q, std::vector< double > &x) override | roboticslab::KdlTreeSolver | virtual |
| getNumJoints() override | roboticslab::KdlTreeSolver | virtual |
| getNumTcps() override | roboticslab::KdlTreeSolver | virtual |
| idSolver (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| ikSolverPos (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| ikSolverVel (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| invDyn(const std::vector< double > &q, std::vector< double > &t) override | roboticslab::KdlTreeSolver | virtual |
| invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override | roboticslab::KdlTreeSolver | virtual |
| roboticslab::ICartesianSolver::invDyn(const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) | roboticslab::ICartesianSolver | inlinevirtual |
| invKin(const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override | roboticslab::KdlTreeSolver | virtual |
| KdlTreeSolver() (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | inline |
| mergedEndpoints (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| open(yarp::os::Searchable &config) override (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | |
| poseDiff(const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override | roboticslab::KdlTreeSolver | virtual |
| reference_frame enum name | roboticslab::ICartesianSolver | |
| restoreOriginalChain() override | roboticslab::KdlTreeSolver | virtual |
| TCP_FRAME enum value | roboticslab::ICartesianSolver | |
| tree (defined in roboticslab::KdlTreeSolver) | roboticslab::KdlTreeSolver | protected |
| ~ICartesianSolver()=default | roboticslab::ICartesianSolver | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1KdlTreeSolver.html b/classroboticslab_1_1KdlTreeSolver.html
new file mode 100644
index 000000000..6297f3e74
--- /dev/null
+++ b/classroboticslab_1_1KdlTreeSolver.html
@@ -0,0 +1,706 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
The KdlTreeSolver class implements ICartesianSolver. +
+ +#include <KdlTreeSolver.hpp>
+
++Public Member Functions | |
| int | getNumJoints () override |
| Get number of joints for which the solver has been configured. More... | |
| int | getNumTcps () override |
| Get number of TCPs for which the solver has been configured. More... | |
| bool | appendLink (const std::vector< double > &x) override |
| Append an additional link. More... | |
| bool | restoreOriginalChain () override |
| Restore original kinematic chain. More... | |
| bool | changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override |
| Change origin in which a pose is expressed. More... | |
| bool | fwdKin (const std::vector< double > &q, std::vector< double > &x) override |
| Perform forward kinematics. More... | |
| bool | poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override |
| Obtain difference between supplied pose inputs. More... | |
| bool | invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override |
| Perform inverse kinematics. More... | |
| bool | diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override |
| Perform differential inverse kinematics. More... | |
| bool | invDyn (const std::vector< double > &q, std::vector< double > &t) override |
| Perform inverse dynamics. More... | |
| bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override |
| Perform inverse dynamics. More... | |
| +bool | open (yarp::os::Searchable &config) override |
| +bool | close () override |
| Public Member Functions inherited from roboticslab::ICartesianSolver | |
| +virtual | ~ICartesianSolver ()=default |
| Destructor. | |
| virtual bool | invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t) |
| Perform inverse dynamics. More... | |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ICartesianSolver | |
| enum | reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') +, TCP_FRAME = yarp::os::createVocab32('c','p','f','t') + } |
| Lists supported reference frames. More... | |
+
|
+ +overridevirtual | +
| x | 6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| x_old_obj_in | 6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_old | 6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| x_new_obj | 6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| xdot | 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
| qdot | Vector describing target velocity in joint space (meters/second or degrees/second). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing a position in joint space (meters or degrees). |
| x | 6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| q | Vector describing current position in joint space (meters or degrees). |
| qdot | Vector describing current velocity in joint space (meters/second or degrees/second). |
| qdotdot | Vector describing current acceleration in joint space (meters/secondยฒ or degrees/secondยฒ). |
| ftip | Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
| frame | Points at the reference_frame ftip is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Assumes null joint velocities and accelerations, and no external forces.
+| q | Vector describing current position in joint space (meters or degrees). |
| t | 6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/secondยฒ), last three denote angular acceleration (radians/secondยฒ). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
| xd | 6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| qGuess | Vector describing current position in joint space (meters or degrees). |
| q | Vector describing target position in joint space (meters or degrees). |
| frame | Points at the reference_frame the desired position is expressed in. |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.
+| xLhs | 6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xRhs | 6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
| xOut | 6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
Implements roboticslab::ICartesianSolver.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::ICartesianSolver.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1KdlTreeSolver.png b/classroboticslab_1_1KdlTreeSolver.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ed17b4eecd26eb144496da6c8db09b75c7064cd
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::KeyboardController, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1KeyboardController.html b/classroboticslab_1_1KeyboardController.html
new file mode 100644
index 000000000..6a24d45f0
--- /dev/null
+++ b/classroboticslab_1_1KeyboardController.html
@@ -0,0 +1,263 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Sends streaming commands to the cartesian controller from a standard keyboard. + More...
+ +#include <KeyboardController.hpp>
+ +Public Types | |
| enum | joint { + Q1 = 0 +, Q2 +, Q3 +, Q4 +, + Q5 +, Q6 +, Q7 +, Q8 +, + Q9 +, MAX_JOINTS + + } |
| enum | cart { + X = 0 +, Y +, Z +, ROTX +, + ROTY +, ROTZ +, NUM_CART_COORDS + + } |
+Private Types | |
| enum | control_modes { NOT_CONTROLLING +, JOINT_MODE +, CARTESIAN_MODE + } |
+Private Attributes | |
| +int | axes |
| +int | currentActuatorCommand |
| +ICartesianSolver::reference_frame | cartFrame |
| +std::string | angleRepr |
| +KinRepresentation::orientation_system | orient |
| +control_modes | controlMode |
| +bool | usingThread |
| +LinearTrajectoryThread * | linTrajThread |
| +yarp::dev::PolyDriver | controlBoardDevice |
| +yarp::dev::PolyDriver | cartesianControlDevice |
| +yarp::dev::IEncoders * | iEncoders |
| +yarp::dev::IControlMode * | iControlMode |
| +yarp::dev::IControlLimits * | iControlLimits |
| +yarp::dev::IVelocityControl * | iVelocityControl |
| +roboticslab::ICartesianControl * | iCartesianControl |
| +std::vector< double > | maxVelocityLimits |
| +std::vector< double > | currentJointVels |
| +std::vector< double > | currentCartVels |
+Static Private Attributes | |
| +static const std::plus< double > | increment_functor |
| +static const std::minus< double > | decrement_functor |
Uses the terminal as a simple user interface. Also accepts joint commands if connected to a remote controlboard.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1KeyboardController.png b/classroboticslab_1_1KeyboardController.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::LeapMotionSensorDevice, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1LeapMotionSensorDevice.html b/classroboticslab_1_1LeapMotionSensorDevice.html
new file mode 100644
index 000000000..d53969028
--- /dev/null
+++ b/classroboticslab_1_1LeapMotionSensorDevice.html
@@ -0,0 +1,395 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Represents a LeapMotion device wrapped as an analog sensor by YARP. +
+ +#include <LeapMotionSensorDevice.hpp>
+
++Public Member Functions | |
| + | LeapMotionSensorDevice (yarp::os::Searchable &config, bool usingMovi) |
| Constructor. | |
| bool | acquireInterfaces () override |
| Acquires plugin interfaces. More... | |
| bool | initialize (bool usingStreamingPreset) override |
| Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired. More... | |
| bool | acquireData () override |
| Acquires data from remote device. More... | |
| bool | transformData (double scaling) override |
| Performs required operations on stored data. More... | |
| int | getActuatorState () override |
| If actuator command data is available, return its current state. More... | |
| void | sendMovementCommand (double timestamp) override |
| Sends movement command to the cartesian controller. More... | |
| +void | stopMotion () override |
| Sends a movement command that would stop motion. | |
| Public Member Functions inherited from roboticslab::StreamingDevice | |
| StreamingDevice (yarp::os::Searchable &config) | |
| Constructor. More... | |
| +virtual | ~StreamingDevice () |
| Destructor. | |
| virtual bool | hasValidMovementData () const |
| Checks whether the device may forward acquired and processed data to the controller. More... | |
| void | setCartesianControllerHandle (ICartesianControl *iCartesianControl) |
| Stores handle to an ICartesianControl instance. More... | |
+Additional Inherited Members | |
| Protected Attributes inherited from roboticslab::StreamingDevice | |
| +ICartesianControl * | iCartesianControl |
| +std::vector< double > | data |
| +std::vector< bool > | fixedAxes |
| +int | actuatorState |
+
|
+ +overridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
Reimplemented from roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| usingStreamingPreset | Whether the cartesian controller supports streaming command presets or not. |
Reimplemented from roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| timestamp | Current timestamp. |
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| scaling | Scaling factor applied to each data value. |
Reimplemented from roboticslab::StreamingDevice.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1LeapMotionSensorDevice.png b/classroboticslab_1_1LeapMotionSensorDevice.png
new file mode 100644
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z=}(hau6pIy_ioXuWlg7qeyn|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::LinearTrajectoryThread, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1LinearTrajectoryThread.html b/classroboticslab_1_1LinearTrajectoryThread.html
new file mode 100644
index 000000000..6ff5c9186
--- /dev/null
+++ b/classroboticslab_1_1LinearTrajectoryThread.html
@@ -0,0 +1,154 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Periodic thread that encapsulates a linear trajectory. +
+ +#include <LinearTrajectoryThread.hpp>
+ +Public Member Functions | |
| + | LinearTrajectoryThread (int period, ICartesianControl *iCartesianControl) |
| +bool | checkStreamingConfig () |
| +bool | configure (const std::vector< double > &vels) |
| +void | useTcpFrame (bool enableTcpFrame) |
+Protected Member Functions | |
| +void | run () override |
+Private Attributes | |
| +double | period |
| +ICartesianControl * | iCartesianControl |
| +KDL::Trajectory * | trajectory |
| +double | startTime |
| +bool | usingStreamingCommandConfig |
| +bool | usingTcpFrame |
| +std::vector< double > | deltaX |
| +std::mutex | mtx |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1LinearTrajectoryThread.png b/classroboticslab_1_1LinearTrajectoryThread.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::MatrixExponential, including all inherited members.
+| asFrame(double theta) const | roboticslab::MatrixExponential | |
| axis (defined in roboticslab::MatrixExponential) | roboticslab::MatrixExponential | private |
| changeBase(const KDL::Frame &H_new_old) | roboticslab::MatrixExponential | |
| cloneWithBase(const KDL::Frame &H_new_old) const | roboticslab::MatrixExponential | |
| getAxis() const | roboticslab::MatrixExponential | inline |
| getMotionType() const | roboticslab::MatrixExponential | inline |
| getOrigin() const | roboticslab::MatrixExponential | inline |
| MatrixExponential(motion motionType, const KDL::Vector &axis, const KDL::Vector &origin=KDL::Vector::Zero()) | roboticslab::MatrixExponential | |
| motion enum name | roboticslab::MatrixExponential | |
| motionType (defined in roboticslab::MatrixExponential) | roboticslab::MatrixExponential | private |
| origin (defined in roboticslab::MatrixExponential) | roboticslab::MatrixExponential | private |
| ROTATION enum value | roboticslab::MatrixExponential | |
| TRANSLATION enum value | roboticslab::MatrixExponential |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1MatrixExponential.html b/classroboticslab_1_1MatrixExponential.html
new file mode 100644
index 000000000..2a57248d2
--- /dev/null
+++ b/classroboticslab_1_1MatrixExponential.html
@@ -0,0 +1,365 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstraction of a term in a product of exponentials (POE) formula. + More...
+ +#include <MatrixExponential.hpp>
+Public Types | |
| enum | motion { ROTATION +, TRANSLATION + } |
| Lists available screw motion types. More... | |
+Public Member Functions | |
| MatrixExponential (motion motionType, const KDL::Vector &axis, const KDL::Vector &origin=KDL::Vector::Zero()) | |
| Constructor. More... | |
| KDL::Frame | asFrame (double theta) const |
| Evaluates this term for the given magnitude of the screw. More... | |
| motion | getMotionType () const |
| Retrieves the motion type of this screw. More... | |
| const KDL::Vector & | getAxis () const |
| Screw axis. More... | |
| const KDL::Vector & | getOrigin () const |
| A point along the screw axis. More... | |
| void | changeBase (const KDL::Frame &H_new_old) |
| Refers the internal coordinates of this screw to a different base. More... | |
| MatrixExponential | cloneWithBase (const KDL::Frame &H_new_old) const |
| Clones this instance and refers the internal coordinates of the screw to a different base. More... | |
+Private Attributes | |
| +motion | motionType |
| +KDL::Vector | axis |
| +KDL::Vector | origin |
| enum roboticslab::MatrixExponential::motion | +
| MatrixExponential::MatrixExponential | +( | +motion | +motionType, | +
| + | + | const KDL::Vector & | +axis, | +
| + | + | const KDL::Vector & | +origin = KDL::Vector::Zero() |
+
| + | ) | ++ |
| motionType | Screw motion type as defined in motion. |
| axis | Screw axis. |
| origin | A point along the screw axis (defaults to (0, 0, 0), ignored in prismatic joints). |
| KDL::Frame MatrixExponential::asFrame | +( | +double | +theta | ) | +const | +
| theta | Input magnitude this screw should be computed at. |
| void MatrixExponential::changeBase | +( | +const KDL::Frame & | +H_new_old | ) | ++ |
| H_new_old | Transformation between the new and the old base frame. |
| MatrixExponential MatrixExponential::cloneWithBase | +( | +const KDL::Frame & | +H_new_old | ) | +const | +
| H_new_old | Transformation between the new and the old base frame. |
+
|
+ +inline | +
+
|
+ +inline | +
+
|
+ +inline | +
1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanOne-members.html b/classroboticslab_1_1PadenKahanOne-members.html
new file mode 100644
index 000000000..b500dec08
--- /dev/null
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@@ -0,0 +1,100 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PadenKahanOne, including all inherited members.
+| axisPow (defined in roboticslab::PadenKahanOne) | roboticslab::PadenKahanOne | private |
| describe() const override | roboticslab::PadenKahanOne | inlinevirtual |
| exp (defined in roboticslab::PadenKahanOne) | roboticslab::PadenKahanOne | private |
| id (defined in roboticslab::PadenKahanOne) | roboticslab::PadenKahanOne | private |
| JointIdsToSolutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| JointIdToSolution typedef | roboticslab::ScrewTheoryIkSubproblem | |
| p (defined in roboticslab::PadenKahanOne) | roboticslab::PadenKahanOne | private |
| PadenKahanOne(int id, const MatrixExponential &exp, const KDL::Vector &p) | roboticslab::PadenKahanOne | |
| solutions() const override | roboticslab::PadenKahanOne | inlinevirtual |
| Solutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| solve(const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override | roboticslab::PadenKahanOne | virtual |
| ~ScrewTheoryIkSubproblem()=default | roboticslab::ScrewTheoryIkSubproblem | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanOne.html b/classroboticslab_1_1PadenKahanOne.html
new file mode 100644
index 000000000..da443f2a8
--- /dev/null
+++ b/classroboticslab_1_1PadenKahanOne.html
@@ -0,0 +1,270 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
First Paden-Kahan subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PadenKahanOne (int id, const MatrixExponential &exp, const KDL::Vector &p) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id |
| +const MatrixExponential | exp |
| +const KDL::Vector | p |
| +const KDL::Rotation | axisPow |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Single solution, single revolute joint geometric IK subproblem given by \( e\,^{\hat{\xi}\,{\theta}} \cdot p = k \) (rotation screw applied to a point).
+| PadenKahanOne::PadenKahanOne | +( | +int | +id, | +
| + | + | const MatrixExponential & | +exp, | +
| + | + | const KDL::Vector & | +p | +
| + | ) | ++ |
| id | Zero-based joint id of the product of exponentials (POE) term. |
| exp | POE term. |
| p | Characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanOne.png b/classroboticslab_1_1PadenKahanOne.png
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zK5*awYv&z#AeW;g$S;@ys0akEo(eHyU|`zk>Eakt!T5IW+oC%PJg)rLjVu4Vue&a<
z;1GBF?6S$HOzs@J;dF^{;h)r5%U*IOO|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PadenKahanThree, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanThree.html b/classroboticslab_1_1PadenKahanThree.html
new file mode 100644
index 000000000..9b6863bc7
--- /dev/null
+++ b/classroboticslab_1_1PadenKahanThree.html
@@ -0,0 +1,280 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Third Paden-Kahan subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PadenKahanThree (int id, const MatrixExponential &exp, const KDL::Vector &p, const KDL::Vector &k) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id |
| +const MatrixExponential | exp |
| +const KDL::Vector | p |
| +const KDL::Vector | k |
| +const KDL::Rotation | axisPow |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Dual solution, single revolute joint geometric IK subproblem given by \( \left \| e\,^{\hat{\xi}\,{\theta}} \cdot p - k \right \| = \delta \) (rotation screw for moving \( p \) to a distance \( \delta \) from \( k \)).
+| PadenKahanThree::PadenKahanThree | +( | +int | +id, | +
| + | + | const MatrixExponential & | +exp, | +
| + | + | const KDL::Vector & | +p, | +
| + | + | const KDL::Vector & | +k | +
| + | ) | ++ |
| id | Zero-based joint id of the product of exponentials (POE) term. |
| exp | POE term. |
| p | First characteristic point. |
| k | Second characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanThree.png b/classroboticslab_1_1PadenKahanThree.png
new file mode 100644
index 0000000000000000000000000000000000000000..91452091fa7664e928f17a950340e39400b56e8e
GIT binary patch
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zGP!p8QR|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PadenKahanTwo, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanTwo.html b/classroboticslab_1_1PadenKahanTwo.html
new file mode 100644
index 000000000..f7486f702
--- /dev/null
+++ b/classroboticslab_1_1PadenKahanTwo.html
@@ -0,0 +1,309 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Second Paden-Kahan subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PadenKahanTwo (int id1, int id2, const MatrixExponential &exp1, const MatrixExponential &exp2, const KDL::Vector &p, const KDL::Vector &r) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id1 |
| +const int | id2 |
| +const MatrixExponential | exp1 |
| +const MatrixExponential | exp2 |
| +const KDL::Vector | p |
| +const KDL::Vector | r |
| +const KDL::Vector | axesCross |
| +const KDL::Rotation | axisPow1 |
| +const KDL::Rotation | axisPow2 |
| +const double | axesDot |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Dual solution, double revolute joint geometric IK subproblem given by \( e\,^{\hat{\xi_1}\,{\theta_1}} \cdot e\,^{\hat{\xi_2}\,{\theta_2}} \cdot p = k \) (consecutive crossing rotation screws to a point).
+| PadenKahanTwo::PadenKahanTwo | +( | +int | +id1, | +
| + | + | int | +id2, | +
| + | + | const MatrixExponential & | +exp1, | +
| + | + | const MatrixExponential & | +exp2, | +
| + | + | const KDL::Vector & | +p, | +
| + | + | const KDL::Vector & | +r | +
| + | ) | ++ |
| id1 | Zero-based joint id of the first product of exponentials (POE) term. |
| id2 | Zero-based joint id of the second POE term. |
| exp1 | First POE term. |
| exp2 | Second POE term. |
| p | Characteristic point. |
| r | Point of intersection between both screw axes. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PadenKahanTwo.png b/classroboticslab_1_1PadenKahanTwo.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bee8d1a79d5b793433340bdc3822b9516fe3b5f
GIT binary patch
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zDlen-yQg22HkQ6>y*I96mUqx|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PardosGotorFour, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorFour.html b/classroboticslab_1_1PardosGotorFour.html
new file mode 100644
index 000000000..8f82af5a4
--- /dev/null
+++ b/classroboticslab_1_1PardosGotorFour.html
@@ -0,0 +1,293 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Fourth Pardos-Gotor subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PardosGotorFour (int id1, int id2, const MatrixExponential &exp1, const MatrixExponential &exp2, const KDL::Vector &p) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id1 |
| +const int | id2 |
| +const MatrixExponential | exp1 |
| +const MatrixExponential | exp2 |
| +const KDL::Vector | p |
| +const KDL::Vector | n |
| +const KDL::Rotation | axisPow |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Dual solution, double revolute joint geometric IK subproblem given by \( e\,^{\hat{\xi_1}\,{\theta_1}} \cdot e\,^{\hat{\xi_2}\,{\theta_2}} \cdot p = k \) (two consecutive parallel rotation screws applied to a point, see [1]).
+| PardosGotorFour::PardosGotorFour | +( | +int | +id1, | +
| + | + | int | +id2, | +
| + | + | const MatrixExponential & | +exp1, | +
| + | + | const MatrixExponential & | +exp2, | +
| + | + | const KDL::Vector & | +p | +
| + | ) | ++ |
| id1 | Zero-based joint id of the first product of exponentials (POE) term. |
| id2 | Zero-based joint id of the second POE term. |
| exp1 | First POE term. |
| exp2 | Second POE term. |
| p | Characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorFour.png b/classroboticslab_1_1PardosGotorFour.png
new file mode 100644
index 0000000000000000000000000000000000000000..da9e6e44b8a81d1ef6cb95e5f4a113da9c09a0a2
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zXqj^(w`_TL=FW|rlP)}T{&{+n&S}{rN}i9io4hW0%vvzXWRlYbm6hAJrti=AeXiv1
z|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PardosGotorOne, including all inherited members.
+| describe() const override | roboticslab::PardosGotorOne | inlinevirtual |
| exp (defined in roboticslab::PardosGotorOne) | roboticslab::PardosGotorOne | private |
| id (defined in roboticslab::PardosGotorOne) | roboticslab::PardosGotorOne | private |
| JointIdsToSolutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| JointIdToSolution typedef | roboticslab::ScrewTheoryIkSubproblem | |
| p (defined in roboticslab::PardosGotorOne) | roboticslab::PardosGotorOne | private |
| PardosGotorOne(int id, const MatrixExponential &exp, const KDL::Vector &p) | roboticslab::PardosGotorOne | |
| solutions() const override | roboticslab::PardosGotorOne | inlinevirtual |
| Solutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| solve(const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override | roboticslab::PardosGotorOne | virtual |
| ~ScrewTheoryIkSubproblem()=default | roboticslab::ScrewTheoryIkSubproblem | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorOne.html b/classroboticslab_1_1PardosGotorOne.html
new file mode 100644
index 000000000..2a45fd7bc
--- /dev/null
+++ b/classroboticslab_1_1PardosGotorOne.html
@@ -0,0 +1,267 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
First Pardos-Gotor subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PardosGotorOne (int id, const MatrixExponential &exp, const KDL::Vector &p) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id |
| +const MatrixExponential | exp |
| +const KDL::Vector | p |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Single solution, single prismatic joint geometric IK subproblem given by \( e\,^{\hat{\xi}\,{\theta}} \cdot p = k \) (translation screw applied to a point, see [1]).
+| PardosGotorOne::PardosGotorOne | +( | +int | +id, | +
| + | + | const MatrixExponential & | +exp, | +
| + | + | const KDL::Vector & | +p | +
| + | ) | ++ |
| id | Zero-based joint id of the product of exponentials (POE) term. |
| exp | POE term. |
| p | Characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorOne.png b/classroboticslab_1_1PardosGotorOne.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PardosGotorThree, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorThree.html b/classroboticslab_1_1PardosGotorThree.html
new file mode 100644
index 000000000..630af4dce
--- /dev/null
+++ b/classroboticslab_1_1PardosGotorThree.html
@@ -0,0 +1,277 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Third Pardos-Gotor subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PardosGotorThree (int id, const MatrixExponential &exp, const KDL::Vector &p, const KDL::Vector &k) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id |
| +const MatrixExponential | exp |
| +const KDL::Vector | p |
| +const KDL::Vector | k |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Dual solution, single prismatic joint geometric IK subproblem given by \( \left \| e\,^{\hat{\xi}\,{\theta}} \cdot p - k \right \| = \delta \) (translation screw for moving \( p \) to a distance \( \delta \) from \( k \), see [1]).
+| PardosGotorThree::PardosGotorThree | +( | +int | +id, | +
| + | + | const MatrixExponential & | +exp, | +
| + | + | const KDL::Vector & | +p, | +
| + | + | const KDL::Vector & | +k | +
| + | ) | ++ |
| id | Zero-based joint id of the product of exponentials (POE) term. |
| exp | POE term. |
| p | First characteristic point. |
| k | Second characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorThree.png b/classroboticslab_1_1PardosGotorThree.png
new file mode 100644
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z{d@m=sriOwwLLk}G1FX4KdZTHPcYAPFZ?&}n|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PardosGotorTwo, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorTwo.html b/classroboticslab_1_1PardosGotorTwo.html
new file mode 100644
index 000000000..9e4d26839
--- /dev/null
+++ b/classroboticslab_1_1PardosGotorTwo.html
@@ -0,0 +1,293 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Second Pardos-Gotor subproblem. + More...
+ +#include <ScrewTheoryIkSubproblems.hpp>
+
++Public Member Functions | |
| PardosGotorTwo (int id1, int id2, const MatrixExponential &exp1, const MatrixExponential &exp2, const KDL::Vector &p) | |
| Constructor. More... | |
| bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const override |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +int | solutions () const override |
| Number of local IK solutions. | |
| +const char * | describe () const override |
| Return a human-readable description of this IK subproblem. | |
| Public Member Functions inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
+Private Attributes | |
| +const int | id1 |
| +const int | id2 |
| +const MatrixExponential | exp1 |
| +const MatrixExponential | exp2 |
| +const KDL::Vector | p |
| +const KDL::Vector | crossPr2 |
| +const double | crossPr2Norm |
+Additional Inherited Members | |
| Public Types inherited from roboticslab::ScrewTheoryIkSubproblem | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
Single solution, double prismatic joint geometric IK subproblem given by \( e\,^{\hat{\xi_1}\,{\theta_1}} \cdot e\,^{\hat{\xi_2}\,{\theta_2}} \cdot p = k \) (consecutive translation screws to a point, see [1]).
+| PardosGotorTwo::PardosGotorTwo | +( | +int | +id1, | +
| + | + | int | +id2, | +
| + | + | const MatrixExponential & | +exp1, | +
| + | + | const MatrixExponential & | +exp2, | +
| + | + | const KDL::Vector & | +p | +
| + | ) | ++ |
| id1 | Zero-based joint id of the first product of exponentials (POE) term. |
| id2 | Zero-based joint id of the second POE term. |
| exp1 | First POE term. |
| exp2 | Second POE term. |
| p | Characteristic point. |
+
|
+ +overridevirtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implements roboticslab::ScrewTheoryIkSubproblem.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PardosGotorTwo.png b/classroboticslab_1_1PardosGotorTwo.png
new file mode 100644
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::PoeExpression, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1PoeExpression.html b/classroboticslab_1_1PoeExpression.html
new file mode 100644
index 000000000..5c95ebbaa
--- /dev/null
+++ b/classroboticslab_1_1PoeExpression.html
@@ -0,0 +1,541 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstraction of a product of exponentials (POE) formula. + More...
+ +#include <ProductOfExponentials.hpp>
+Public Member Functions | |
| PoeExpression (const KDL::Frame &H_S_T=KDL::Frame::Identity()) | |
| Constructor. More... | |
| void | append (const MatrixExponential &exp, const KDL::Frame &H_new_old=KDL::Frame::Identity()) |
| Appends a new term to this POE formula. More... | |
| void | append (const PoeExpression &poe, const KDL::Frame &H_new_old=KDL::Frame::Identity()) |
| Appends a POE to this formula. More... | |
| const KDL::Frame & | getTransform () const |
| Retrieves the transformation between base and tool frames. More... | |
| int | size () const |
| Size of this POE. More... | |
| const MatrixExponential & | exponentialAtJoint (int i) const |
| Retrieves a term of the POE formula. More... | |
| void | changeBaseFrame (const KDL::Frame &H_new_old) |
| Refers the internal coordinates of this POE to a different base. More... | |
| void | changeToolFrame (const KDL::Frame &H_new_old) |
| Updates the tool frame. More... | |
| bool | evaluate (const KDL::JntArray &q, KDL::Frame &H) const |
| Performs forward kinematics. More... | |
| void | reverseSelf () |
| Inverts this POE formula. More... | |
| PoeExpression | makeReverse () const |
| Creates a new POE entity from the inverse of this POE formula. More... | |
| KDL::Chain | toChain () const |
| Makes a KDL::Chain from this instance. More... | |
+Static Public Member Functions | |
| static PoeExpression | fromChain (const KDL::Chain &chain) |
| Builds a PoeExpression from a KDL::Chain. More... | |
+Private Attributes | |
| +std::vector< MatrixExponential > | exps |
| +KDL::Frame | H_S_T |
This entity is comprised of a sequence of matrix exponentials and a transformation between the base and the tool frame.
+
+
|
+ +inlineexplicit | +
| H_S_T | Transformation between the base and the tool frame. |
+
|
+ +inline | +
All internal coordinates of the input POE term are referred to the current base frame after applying an (optional) intermediate transformation.
+| exp | Input POE term. |
| H_new_old | Transformation between the base frame of this POE and the base frame of the input POE term. |
| void PoeExpression::append | +( | +const PoeExpression & | +poe, | +
| + | + | const KDL::Frame & | +H_new_old = KDL::Frame::Identity() |
+
| + | ) | ++ |
All internal coordinates of the input POE are referred to the current base frame after applying an (optional) intermediate transformation. The current tool frame is replaced by the appended POE's tool frame and updated in the same manner.
+| poe | Input POE formula. |
| H_new_old | Transformation between the new and the old base frame. |
| void PoeExpression::changeBaseFrame | +( | +const KDL::Frame & | +H_new_old | ) | ++ |
All POE terms as well as the base-to-tool reference frame will be updated accordingly.
+| H_new_old | Transformation between the new and the old base frame. |
+
|
+ +inline | +
| H_new_old | Transformation between the new and the old tool frame. |
| bool PoeExpression::evaluate | +( | +const KDL::JntArray & | +q, | +
| + | + | KDL::Frame & | +H | +
| + | ) | +const | +
| q | Input joint array (radians). |
| H | Output pose in cartesian space. |
+
|
+ +inline | +
| i | Zero-based index of the requested term. |
+
|
+ +static | +
| chain | A KDL kinematic chain representation. |
+
|
+ +inline | +
| PoeExpression PoeExpression::makeReverse | +( | +) | +const | +
The sequence of POE terms is reversed and the base and tool frames interchanged. Note that theta_i = -theta_(size-i)_reversed.
+| void PoeExpression::reverseSelf | +( | +) | ++ |
The sequence of POE terms is reversed and the base and tool frames interchanged. Note that theta_i = -theta_(size-i)_reversed.
+
+
|
+ +inline | +
| KDL::Chain PoeExpression::toChain | +( | +) | +const | +
1.9.1
+
+
+
diff --git a/classroboticslab_1_1RpcResponder-members.html b/classroboticslab_1_1RpcResponder-members.html
new file mode 100644
index 000000000..5d3032b35
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@@ -0,0 +1,107 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::RpcResponder, including all inherited members.
+| ConsumerFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| FunctionFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleActMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleConsumerCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, ConsumerFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleFunctionCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, FunctionFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterGetter(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterGetterGroup(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterSetter(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterSetterGroup(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleRunnableCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, RunnableFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleStatMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleWaitMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| iCartesianControl (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| makeUsage() | roboticslab::RpcResponder | |
| respond(const yarp::os::Bottle &in, yarp::os::Bottle &out) override | roboticslab::RpcResponder | |
| RpcResponder(roboticslab::ICartesianControl *_iCartesianControl) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | inline |
| RunnableFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| transformIncomingData(std::vector< double > &vin) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | inlineprotectedvirtual |
| transformOutgoingData(std::vector< double > &vout) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | inlineprotectedvirtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1RpcResponder.html b/classroboticslab_1_1RpcResponder.html
new file mode 100644
index 000000000..1a0cdbf37
--- /dev/null
+++ b/classroboticslab_1_1RpcResponder.html
@@ -0,0 +1,244 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Responds to RPC command messages. +
+ +#include <CartesianControlServer.hpp>
+
++Public Member Functions | |
| + | RpcResponder (roboticslab::ICartesianControl *_iCartesianControl) |
| bool | respond (const yarp::os::Bottle &in, yarp::os::Bottle &out) override |
| void | makeUsage () |
+Protected Member Functions | |
| +virtual bool | transformIncomingData (std::vector< double > &vin) |
| +virtual bool | transformOutgoingData (std::vector< double > &vout) |
+Private Attributes | |
| +roboticslab::ICartesianControl * | iCartesianControl |
| void RpcResponder::makeUsage | +( | +) | ++ |
Generate command usage information.
+ +
+
|
+ +override | +
Respond to a message.
| in | the message |
| out | the response |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1RpcResponder.png b/classroboticslab_1_1RpcResponder.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4873a723e120bb4f6b20a13f73c25ff79739dd8
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::RpcTransformResponder, including all inherited members.
+| ConsumerFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| coord (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | private |
| FunctionFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleActMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleConsumerCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, ConsumerFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleFunctionCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, FunctionFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterGetter(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterGetterGroup(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterSetter(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleParameterSetterGroup(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleRunnableCmdMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out, RunnableFun cmd) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleStatMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| handleWaitMsg(const yarp::os::Bottle &in, yarp::os::Bottle &out) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| iCartesianControl (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| makeUsage() | roboticslab::RpcResponder | |
| orient (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | private |
| respond(const yarp::os::Bottle &in, yarp::os::Bottle &out) override | roboticslab::RpcResponder | |
| RpcResponder(roboticslab::ICartesianControl *_iCartesianControl) (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | inline |
| RpcTransformResponder(roboticslab::ICartesianControl *iCartesianControl, KinRepresentation::coordinate_system coord, KinRepresentation::orientation_system orient, KinRepresentation::angular_units units) (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | inline |
| RunnableFun typedef (defined in roboticslab::RpcResponder) | roboticslab::RpcResponder | private |
| transformIncomingData(std::vector< double > &vin) override (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | privatevirtual |
| transformOutgoingData(std::vector< double > &vout) override (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | privatevirtual |
| units (defined in roboticslab::RpcTransformResponder) | roboticslab::RpcTransformResponder | private |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1RpcTransformResponder.html b/classroboticslab_1_1RpcTransformResponder.html
new file mode 100644
index 000000000..660dff3f6
--- /dev/null
+++ b/classroboticslab_1_1RpcTransformResponder.html
@@ -0,0 +1,147 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Responds to RPC command messages, transforms incoming data. +
+ +#include <CartesianControlServer.hpp>
+
++Public Member Functions | |
| + | RpcTransformResponder (roboticslab::ICartesianControl *iCartesianControl, KinRepresentation::coordinate_system coord, KinRepresentation::orientation_system orient, KinRepresentation::angular_units units) |
| Public Member Functions inherited from roboticslab::RpcResponder | |
| + | RpcResponder (roboticslab::ICartesianControl *_iCartesianControl) |
| bool | respond (const yarp::os::Bottle &in, yarp::os::Bottle &out) override |
| void | makeUsage () |
+Private Member Functions | |
| +bool | transformIncomingData (std::vector< double > &vin) override |
| +bool | transformOutgoingData (std::vector< double > &vout) override |
+Private Attributes | |
| +KinRepresentation::coordinate_system | coord |
| +KinRepresentation::orientation_system | orient |
| +KinRepresentation::angular_units | units |
+Additional Inherited Members |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1RpcTransformResponder.png b/classroboticslab_1_1RpcTransformResponder.png
new file mode 100644
index 0000000000000000000000000000000000000000..c432600a9cda3a268fd960a35fa648e3d2e81711
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ScrewTheoryIkProblem, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkProblem.html b/classroboticslab_1_1ScrewTheoryIkProblem.html
new file mode 100644
index 000000000..5f616afb7
--- /dev/null
+++ b/classroboticslab_1_1ScrewTheoryIkProblem.html
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Proxy IK problem solver class that iterates over a sequence of subproblems. + More...
+ +#include <ScrewTheoryIkProblem.hpp>
+Public Types | |
| +using | Steps = std::vector< const ScrewTheoryIkSubproblem * > |
| Ordered sequence of IK subproblems needed to solve a IK problem. | |
| +using | Solutions = std::vector< KDL::JntArray > |
| Collection of global IK solutions. | |
+Public Member Functions | |
| + | ~ScrewTheoryIkProblem () |
| Destructor. | |
| + | ScrewTheoryIkProblem (const ScrewTheoryIkProblem &)=delete |
| +ScrewTheoryIkProblem & | operator= (const ScrewTheoryIkProblem &)=delete |
| bool | solve (const KDL::Frame &H_S_T, Solutions &solutions) |
| Find all available solutions. More... | |
| +int | solutions () const |
| Number of global IK solutions. | |
| +const Steps & | getSteps () const |
| Solution of the IK problem (if available) | |
| +bool | isReversed () const |
| Whether the computed solution is reversed. | |
+Static Public Member Functions | |
| static ScrewTheoryIkProblem * | create (const PoeExpression &poe, const Steps &steps, bool reversed=false) |
| Creates an IK solver instance given a sequence of known subproblems. More... | |
+Private Types | |
| enum | poe_term { EXP_KNOWN +, EXP_COMPUTED +, EXP_UNKNOWN + } |
| +using | Frames = std::vector< KDL::Frame > |
| +using | PoeTerms = std::vector< poe_term > |
+Private Member Functions | |
| + | ScrewTheoryIkProblem (const PoeExpression &poe, const Steps &steps, bool reversed) |
| +void | recalculateFrames (const Solutions &solutions, Frames &frames, PoeTerms &poeTerms) |
| +bool | recalculateFrames (const Solutions &solutions, Frames &frames, PoeTerms &poeTerms, bool backwards) |
| +KDL::Frame | transformPoint (const KDL::JntArray &jointValues, const PoeTerms &poeTerms) |
+Private Attributes | |
| +const PoeExpression | poe |
| +const Steps | steps |
| +const bool | reversed |
| +const int | soln |
This class is immutable. Instantiation is allowed by means of a static builder method.
+
+
|
+ +static | +
| poe | A product of exponentials (POE) formula. |
| steps | Collection of subproblems that solve this particular IK problem. |
| reversed | True if the POE has been reversed (in order to find a valid solution). |
| bool ScrewTheoryIkProblem::solve | +( | +const KDL::Frame & | +H_S_T, | +
| + | + | Solutions & | +solutions | +
| + | ) | ++ |
| H_S_T | Target pose in cartesian space. |
| solutions | Output vector of solutions stored as joint arrays. |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkProblemBuilder-members.html b/classroboticslab_1_1ScrewTheoryIkProblemBuilder-members.html
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+
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+
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+
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+
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ScrewTheoryIkProblemBuilder, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkProblemBuilder.html b/classroboticslab_1_1ScrewTheoryIkProblemBuilder.html
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Automated IK solution finder. + More...
+ +#include <ScrewTheoryIkProblem.hpp>
+Classes | |
| struct | PoeTerm |
| Helper structure that holds the state of a POE term. More... | |
+Public Member Functions | |
| ScrewTheoryIkProblemBuilder (const PoeExpression &poe) | |
| Constructor. More... | |
| ScrewTheoryIkProblem * | build () |
| Finds a valid sequence of geometric subproblems that solve a global IK problem. More... | |
+Private Member Functions | |
| +ScrewTheoryIkProblem::Steps | searchSolutions () |
| +void | refreshSimplificationState () |
| +void | simplify (int depth) |
| +void | simplifyWithPadenKahanOne (const KDL::Vector &point) |
| +void | simplifyWithPadenKahanThree (const KDL::Vector &point) |
| +void | simplifyWithPardosOne () |
| +ScrewTheoryIkSubproblem * | trySolve (int depth) |
+Static Private Member Functions | |
| +static std::vector< KDL::Vector > | searchPoints (const PoeExpression &poe) |
+Private Attributes | |
| +PoeExpression | poe |
| +std::vector< KDL::Vector > | points |
| +std::vector< KDL::Vector > | testPoints |
| +std::vector< PoeTerm > | poeTerms |
+Static Private Attributes | |
| +static const int | MAX_SIMPLIFICATION_DEPTH = 2 |
This class helps to automate the process for configuring a valid IK problem given its geometric data only. It is intended to take care of the generation and configuration of known subproblems, whereas particular joint-space solutions are meant to be computed on runtime by ScrewTheoryIkProblem.
+| ScrewTheoryIkProblemBuilder::ScrewTheoryIkProblemBuilder | +( | +const PoeExpression & | +poe | ) | ++ |
| poe | Product of exponentials (POE) formula. |
| ScrewTheoryIkProblem * ScrewTheoryIkProblemBuilder::build | +( | +) | ++ |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkSubproblem-members.html b/classroboticslab_1_1ScrewTheoryIkSubproblem-members.html
new file mode 100644
index 000000000..fd8a0203a
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::ScrewTheoryIkSubproblem, including all inherited members.
+| describe() const =0 | roboticslab::ScrewTheoryIkSubproblem | pure virtual |
| JointIdsToSolutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| JointIdToSolution typedef | roboticslab::ScrewTheoryIkSubproblem | |
| Solutions typedef | roboticslab::ScrewTheoryIkSubproblem | |
| solutions() const =0 | roboticslab::ScrewTheoryIkSubproblem | pure virtual |
| solve(const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const =0 | roboticslab::ScrewTheoryIkSubproblem | pure virtual |
| ~ScrewTheoryIkSubproblem()=default | roboticslab::ScrewTheoryIkSubproblem | virtual |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkSubproblem.html b/classroboticslab_1_1ScrewTheoryIkSubproblem.html
new file mode 100644
index 000000000..a0f1df414
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Interface shared by all IK subproblems found in Screw Theory applied to Robotics. + More...
+ +#include <ScrewTheoryIkProblem.hpp>
+
++Public Types | |
| +using | JointIdToSolution = std::pair< int, double > |
| Maps a joint id to a screw magnitude. | |
| +using | JointIdsToSolutions = std::vector< JointIdToSolution > |
| At least one joint-id+value pair per solution. | |
| +using | Solutions = std::vector< JointIdsToSolutions > |
| Collection of local IK solutions. | |
+Public Member Functions | |
| +virtual | ~ScrewTheoryIkSubproblem ()=default |
| Destructor. | |
| virtual bool | solve (const KDL::Frame &rhs, const KDL::Frame &pointTransform, Solutions &solutions) const =0 |
| Finds a closed geometric solution for this IK subproblem. More... | |
| +virtual int | solutions () const =0 |
| Number of local IK solutions. | |
| +virtual const char * | describe () const =0 |
| Return a human-readable description of this IK subproblem. | |
Derived classes are considered to be immutable.
+
+
|
+ +pure virtual | +
Given the product of exponentials (POE) formula \( \prod_i e\,^{\hat{\xi}_i\,{\theta_i}} \cdot H_{ST}(0) = H_{ST}(\theta) \) , , invariant and known terms are rearranged to the right side (rhs) as follows:
+\[ \prod_{i=j}^{j+k} e\,^{\hat{\xi}_i\,{\theta_i}} = \left [ \prod_{i=1}^{j-1} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \cdot H_{ST}(\theta) \cdot \left [ H_{ST}(0) \right ]^{-1} \cdot \left [ \prod_{i=j+k+1}^{N} e\,^{\hat{\xi}_i\,{\theta_i}} \right ]^{-1} \] +
+where \( j = \{1, 2, ..., N\}, k = \{1, 2, ..., N-1\}, 1 <= j+k <= N \) .
+Given \( N \) terms in the POE formula, \( j \) of which are unknowns, any characteristic point \( p \) postmultiplying this expression could be rewritten as \( p' \) per:
++\[ \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot \prod_{i=j+1}^N e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p = \prod_{i=1}^j e\,^{\hat{\xi}_i\,{\theta_i}} \cdot p' \] +
+where pointTransform is the transformation matrix that produces \( p' \) from \( p \) .
| rhs | Right-hand side of the POE formula prior to being applied to the right-hand side of this subproblem. |
| pointTransform | Transformation frame applied to the first (and perhaps only) characteristic point of this subproblem. |
| solutions | Output vector of local solutions. |
Implemented in roboticslab::PardosGotorFour, roboticslab::PardosGotorThree, roboticslab::PardosGotorTwo, roboticslab::PardosGotorOne, roboticslab::PadenKahanThree, roboticslab::PadenKahanTwo, and roboticslab::PadenKahanOne.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1ScrewTheoryIkSubproblem.png b/classroboticslab_1_1ScrewTheoryIkSubproblem.png
new file mode 100644
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zIrp4%&z+AH;O}!_-_d|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::SpnavSensorDevice, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1SpnavSensorDevice.html b/classroboticslab_1_1SpnavSensorDevice.html
new file mode 100644
index 000000000..6559274fb
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Represents a spacenav-compatible device, like the SpaceNavigator 6-DOF mouse from 3Dconnexion. +
+ +#include <SpnavSensorDevice.hpp>
+
++Public Member Functions | |
| + | SpnavSensorDevice (yarp::os::Searchable &config, bool usingMovi, double gain=0.0) |
| Constructor. | |
| bool | acquireInterfaces () override |
| Acquires plugin interfaces. More... | |
| bool | initialize (bool usingStreamingPreset) override |
| Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired. More... | |
| bool | acquireData () override |
| Acquires data from remote device. More... | |
| bool | transformData (double scaling) override |
| Performs required operations on stored data. More... | |
| int | getActuatorState () override |
| If actuator command data is available, return its current state. More... | |
| bool | hasValidMovementData () const override |
| Checks whether the device may forward acquired and processed data to the controller. More... | |
| void | sendMovementCommand (double timestamp) override |
| Sends movement command to the cartesian controller. More... | |
| +void | stopMotion () override |
| Sends a movement command that would stop motion. | |
| Public Member Functions inherited from roboticslab::StreamingDevice | |
| StreamingDevice (yarp::os::Searchable &config) | |
| Constructor. More... | |
| +virtual | ~StreamingDevice () |
| Destructor. | |
| void | setCartesianControllerHandle (ICartesianControl *iCartesianControl) |
| Stores handle to an ICartesianControl instance. More... | |
+Private Attributes | |
| +yarp::dev::IAnalogSensor * | iAnalogSensor |
| +std::vector< double > | currentX |
| +bool | usingMovi |
| +double | gain |
| +bool | buttonClose |
| +bool | buttonOpen |
+Additional Inherited Members | |
| Protected Attributes inherited from roboticslab::StreamingDevice | |
| +ICartesianControl * | iCartesianControl |
| +std::vector< double > | data |
| +std::vector< bool > | fixedAxes |
| +int | actuatorState |
+
|
+ +overridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
Reimplemented from roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
Reimplemented from roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| usingStreamingPreset | Whether the cartesian controller supports streaming command presets or not. |
Reimplemented from roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| timestamp | Current timestamp. |
Implements roboticslab::StreamingDevice.
+ +
+
|
+ +overridevirtual | +
| scaling | Scaling factor applied to each data value. |
Reimplemented from roboticslab::StreamingDevice.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1SpnavSensorDevice.png b/classroboticslab_1_1SpnavSensorDevice.png
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zs^M%iIqCD|
+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::StreamResponder, including all inherited members.
+| BiConsumerFun typedef (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | private |
| ConsumerFun typedef (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | private |
| handleBiConsumerCmdMsg(const yarp::os::Bottle &in, BiConsumerFun cmd) (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | private |
| handleConsumerCmdMsg(const yarp::os::Bottle &in, ConsumerFun cmd) (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | private |
| iCartesianControl (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | private |
| onRead(yarp::os::Bottle &b) override (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | |
| StreamResponder(roboticslab::ICartesianControl *_iCartesianControl) (defined in roboticslab::StreamResponder) | roboticslab::StreamResponder | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1StreamResponder.html b/classroboticslab_1_1StreamResponder.html
new file mode 100644
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Responds to streaming command messages. +
+ +#include <CartesianControlServer.hpp>
+ +Public Member Functions | |
| + | StreamResponder (roboticslab::ICartesianControl *_iCartesianControl) |
| +void | onRead (yarp::os::Bottle &b) override |
+Private Types | |
| +using | ConsumerFun = void(ICartesianControl::*)(const std::vector< double > &) |
| +using | BiConsumerFun = void(ICartesianControl::*)(const std::vector< double > &, double) |
+Private Member Functions | |
| +void | handleConsumerCmdMsg (const yarp::os::Bottle &in, ConsumerFun cmd) |
| +void | handleBiConsumerCmdMsg (const yarp::os::Bottle &in, BiConsumerFun cmd) |
+Private Attributes | |
| +roboticslab::ICartesianControl * | iCartesianControl |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1StreamResponder.png b/classroboticslab_1_1StreamResponder.png
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+ kinematics-dynamics
+
+ |
+
This is the complete list of members for roboticslab::StreamingDevice, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1StreamingDevice.html b/classroboticslab_1_1StreamingDevice.html
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+
+
+
+
+
+
+
+|
+ kinematics-dynamics
+
+ |
+
Abstract class for a YARP streaming device. +
+ +#include <StreamingDevice.hpp>
+
++Public Member Functions | |
| StreamingDevice (yarp::os::Searchable &config) | |
| Constructor. More... | |
| +virtual | ~StreamingDevice () |
| Destructor. | |
| virtual bool | acquireInterfaces ()=0 |
| Acquires plugin interfaces. More... | |
| virtual bool | initialize (bool usingStreamingPreset) |
| Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired. More... | |
| virtual bool | acquireData ()=0 |
| Acquires data from remote device. More... | |
| virtual bool | transformData (double scaling) |
| Performs required operations on stored data. More... | |
| virtual int | getActuatorState () |
| If actuator command data is available, return its current state. More... | |
| virtual bool | hasValidMovementData () const |
| Checks whether the device may forward acquired and processed data to the controller. More... | |
| virtual void | sendMovementCommand (double timestamp)=0 |
| Sends movement command to the cartesian controller. More... | |
| +virtual void | stopMotion ()=0 |
| Sends a movement command that would stop motion. | |
| void | setCartesianControllerHandle (ICartesianControl *iCartesianControl) |
| Stores handle to an ICartesianControl instance. More... | |
+Protected Attributes | |
| +ICartesianControl * | iCartesianControl |
| +std::vector< double > | data |
| +std::vector< bool > | fixedAxes |
| +int | actuatorState |
+Private Member Functions | |
| +void | configureFixedAxes (const yarp::os::Value &v) |
| Stores vector of values representing axes that are always fixed. | |
+Private Attributes | |
| +friend | CentroidTransform |
| StreamingDevice::StreamingDevice | +( | +yarp::os::Searchable & | +config | ) | ++ |
| config | List of options the YARP device should be opened with. |
+
|
+ +pure virtual | +
Implemented in roboticslab::WiimoteSensorDevice, roboticslab::InvalidDevice, roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ +
+
|
+ +pure virtual | +
Implemented in roboticslab::WiimoteSensorDevice, roboticslab::InvalidDevice, roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ +
+
|
+ +inlinevirtual | +
Reimplemented in roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ +
+
|
+ +virtual | +
Reimplemented in roboticslab::WiimoteSensorDevice, and roboticslab::SpnavSensorDevice.
+ +
+
|
+ +inlinevirtual | +
| usingStreamingPreset | Whether the cartesian controller supports streaming command presets or not. |
Reimplemented in roboticslab::WiimoteSensorDevice, roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ +
+
|
+ +pure virtual | +
| timestamp | Current timestamp. |
Implemented in roboticslab::WiimoteSensorDevice, roboticslab::InvalidDevice, roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ +
+
|
+ +inline | +
| iCartesianControl | Handle to an ICartesianControl instance. |
+
|
+ +virtual | +
| scaling | Scaling factor applied to each data value. |
Reimplemented in roboticslab::WiimoteSensorDevice, roboticslab::SpnavSensorDevice, and roboticslab::LeapMotionSensorDevice.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1StreamingDevice.png b/classroboticslab_1_1StreamingDevice.png
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