IKCalliope Class Reference

Kinematics solver for the 5-DOF Calliope Arm. More...

#include <IKCalliope.h>

Inheritance diagram for IKCalliope:

[legend]

Detailed Description

Kinematics solver for the 5-DOF Calliope Arm.

Definition at line 34 of file IKCalliope.h.

List of all members.

Classes
struct	Solutions
	Struct to enclose joint angles for 5-dof solution. More...
Public Member Functions
	IKCalliope ()
	constructor
virtual bool	solve (const Point &pEff, const Rotation &oriEff, KinematicJoint &j, const Position &pTgt, float posPri, const Orientation &oriTgt, float oriPri) const
	Perform IK.
virtual StepResult_t	step (const Point &pEff, const Rotation &oriEff, KinematicJoint &j, const Position &pTgt, float pDist, float posPri, const Orientation &oriTgt, float oriDist, float oriPri) const
	Carried over from other implementations.
Static Public Attributes
static const float	EPSILON = 1e-3
Protected Member Functions
Solutions	closestThreeLinkIK (const fmat::Column< 2 > &t, bool posPri, float prefPhi, const fmat::Column< 2 > &delta) const
	Attempt to find 3-link IK solution, for target point t, effector offset pEff, and preferred tool angle prefPhi.
Solutions	pointToward (const fmat::Column< 2 > &target, bool posPri, float prefPhi) const
	Reaches the arm straight out in the direction of the target.
Solutions	validAngles (Solutions solutions) const
	Determines whether the angles that we've solved for are valid.
Solutions	threeLinkIK (fmat::Column< 2 > t, float phi) const
	Performs 3-link IK.
fmat::Matrix< 2, 2 >	twoLinkIK (fmat::Column< 2 > t) const
	Performs 2-link IK.
int	closestSolution (KinematicJoint &j, Solutions s) const
	Returns the index of the closest solution (0 or 1).
void	assureOrientation (Solutions &s, float phi) const
	Assures that the arm is in the given orientation.
Static Protected Member Functions
static bool	isSideGrasp (const Rotation &oriEff, const Orientation &oriTgt)
	Test if a side grasp is being requested.
static bool	isOverheadGrasp (const Rotation &oriEff, const Orientation &oriTgt)
	Test if an overhead grasp is being requested.
static bool	analyticallySolvable (const Rotation &oriEff, const Position &pTgt, const Orientation &oriTgt)
	Test if constraints are simple enough to solve analytically.
static bool	gradientSolve (const Point &pEff, const Rotation &oriEff, KinematicJoint &j, const Position &pTgt, float posPri, const Orientation &oriTgt, float oriPri)
	Provides fall back to the gradient solver if we can't solve analytically.
Protected Attributes
float	L1
	Length of backarm and forearm.
float	L2
float	jointLimits [3][2]
	Limits of rotation of Calliope's Arm Joints.
float	qGripper
	Extra angle between the base and the gripper to be taken into account.
float	qWristRot
	Extra angle between the base and the wrist rotate to be taken into account.
float	qOffset
	qOffset of the ArmBaseOffset
fmat::Transform	baseToArm
	Transforms from the BaseFrame to the ArmBase.
fmat::Quaternion	baseToArmRot
	Rotation from BaseFrame to the ArmBase.
float	shoulderOffset
	Distance from the arm base to the shoulder position.
Static Protected Attributes
static const std::string	autoRegisterIKCalliope = IKSolver::getRegistry().registerType<IKCalliope>("IKCalliope")
	holds the class name, set via registration with the DeviceDriver registry

Constructor & Destructor Documentation

IKCalliope::IKCalliope ( )

constructor

Definition at line 52 of file IKCalliope.cc.

Member Function Documentation

bool IKCalliope::analyticallySolvable	(	const Rotation &	oriEff,
		const Position &	pTgt,
		const Orientation &	oriTgt
	)			`[static, protected]`

Test if constraints are simple enough to solve analytically.

Definition at line 481 of file IKCalliope.cc.

Referenced by solve().

void IKCalliope::assureOrientation	(	IKCalliope::Solutions &	s,
		float	phi
	)			const `[protected]`

Assures that the arm is in the given orientation.

For use when we need to constrain orientation, and aren't concerned with position as much.

Definition at line 377 of file IKCalliope.cc.

Referenced by closestThreeLinkIK().

int IKCalliope::closestSolution	(	KinematicJoint &	j,
		IKCalliope::Solutions	s
	)			const `[protected]`

Returns the index of the closest solution (0 or 1).

If there's only one solution, returns 0.

Definition at line 354 of file IKCalliope.cc.

Referenced by solve().

IKCalliope::Solutions IKCalliope::closestThreeLinkIK	(	const fmat::Column< 2 > &	t,
		bool	posPri,
		float	prefPhi,
		const fmat::Column< 2 > &	delta
	)			const `[protected]`

Attempt to find 3-link IK solution, for target point t, effector offset pEff, and preferred tool angle prefPhi.

If a solution cannot be found, try ±1°, ±2°, ±3°, etc, until a valid solution is found. If no valid solution can be found for any angle, just point the effector toward the target.

Definition at line 267 of file IKCalliope.cc.

Referenced by solve().

bool IKCalliope::gradientSolve	(	const Point &	pEff,
		const Rotation &	oriEff,
		KinematicJoint &	j,
		const Position &	pTgt,
		float	posPri,
		const Orientation &	oriTgt,
		float	oriPri
	)			`[static, protected]`

Provides fall back to the gradient solver if we can't solve analytically.

Definition at line 497 of file IKCalliope.cc.

Referenced by solve().

bool IKCalliope::isOverheadGrasp	(	const Rotation &	oriEff,
		const Orientation &	oriTgt
	)			`[static, protected]`

Test if an overhead grasp is being requested.

Definition at line 475 of file IKCalliope.cc.

Referenced by analyticallySolvable().

bool IKCalliope::isSideGrasp	(	const Rotation &	oriEff,
		const Orientation &	oriTgt
	)			`[static, protected]`

Test if a side grasp is being requested.

Definition at line 469 of file IKCalliope.cc.

Referenced by analyticallySolvable().

IKCalliope::Solutions IKCalliope::pointToward	(	const fmat::Column< 2 > &	target,
		bool	posPri,
		float	prefPhi
	)			const `[protected]`

Reaches the arm straight out in the direction of the target.

For use in case we cannot reach the target point with any tool angle phi

Definition at line 327 of file IKCalliope.cc.

Referenced by closestThreeLinkIK().

bool IKCalliope::solve	(	const Point &	pEff,
		const Rotation &	oriEff,
		KinematicJoint &	j,
		const Position &	pTgt,
		float	posPri,
		const Orientation &	oriTgt,
		float	oriPri
	)			const `[virtual]`

Perform IK.

Implements IKSolver.

Definition at line 88 of file IKCalliope.cc.

Referenced by step().

IKSolver::StepResult_t IKCalliope::step	(	const Point &	pEff,
		const Rotation &	oriEff,
		KinematicJoint &	j,
		const Position &	pTgt,
		float	pDist,
		float	posPri,
		const Orientation &	oriTgt,
		float	oriDist,
		float	oriPri
	)			const `[virtual]`