IKGradientSolver Class Reference

Performs gradient descent on the joints to find a solution. More...

#include <IKGradientSolver.h>

Inheritance diagram for IKGradientSolver:

[legend]

---

Detailed Description

Performs gradient descent on the joints to find a solution.

This is intended as a generic fallback for IK requests that cannot be handled analytically.

Definition at line 10 of file IKGradientSolver.h.

List of all members.

Public Member Functions
	IKGradientSolver (unsigned int iter=75, float posTolerance=0.5f, float oriTolerance=.001f)
	constructor
	IKGradientSolver (unsigned int iter, float posTolerance, float oriTolerance, float qTolerance)
	constructor
virtual bool	solve (const Point &pEff, const Rotation &oriEff, KinematicJoint &j, const Position &pTgt, float posPri, const Orientation &oriTgt, float oriPri) const
	Solve to get an 'effector' (pEff, oriEff, relative to link following j) to a solution of pTgt, oriTgt (or at least a local minimum).
virtual bool	solve (const Point &pEff, const Rotation &oriEff, KinematicJoint &j, const Position &pTgt, float posPri, const Orientation &oriTgt, float oriPri, unsigned int root) const
virtual IKSolver::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
	Move an 'effector' (pEff, oriEff, relative to link following j) towards a solution of pTgt, oriTgt (or at least a local minimum).
virtual IKSolver::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, bool successInReach) const
virtual IKSolver::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, bool successInReach, unsigned int root) const
Protected Attributes
const float	PTOL
	position tolerance
const float	OTOL
	orientation tolerance
const float	QTOL
	joint angle tolerance
const unsigned int	MAX_ITER
	maximum number of iterations to attempt
Static Private Attributes
static const std::string	autoRegisterIKGradientSolver = IKSolver::getRegistry().registerType<IKGradientSolver>("IKGradientSolver")
	holds the class name, set via registration with the DeviceDriver registry
static const std::string	autoRegisterDefaultIKSolver = IKSolver::getRegistry().registerType<IKGradientSolver>("")
	since this is the default solver, also register as "" (empty name)

---

Constructor & Destructor Documentation

IKGradientSolver::IKGradientSolver	(	unsigned int	iter = 75,
		float	posTolerance = 0.5f,
		float	oriTolerance = .001f
	)

constructor

Definition at line 13 of file IKGradientSolver.h.

IKGradientSolver::IKGradientSolver	(	unsigned int	iter,
		float	posTolerance,
		float	oriTolerance,
		float	qTolerance
	)

constructor

Definition at line 17 of file IKGradientSolver.h.

---

Member Function Documentation

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

Definition at line 299 of file IKGradientSolver.cc.

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

Solve to get an 'effector' (pEff, oriEff, relative to link following j) to a solution of pTgt, oriTgt (or at least a local minimum).

Parameters:

	pEff	The point on the effector that should be brought to the target. Typically [0,0,0] if the effector is GripperFrame.
	oriEff	Rotation of the effector's reference frame; used to align some effector axis with the target's Orientation axes. For example, if oriTgt is a Parallel constraint, the effector will be free to rotate about the target's z-axis. If we want the effector to rotate about its y-axis, we use oriEff to rotate the effector y-axis to the target's z-axis.
	j	The kinematic joint at the end of the chain (e.g., GripperFrame)
	pTgt	The Position constraint that pEff should satisfy, i.e., the target location
	oriTgt	The Orientation constraint that pEff should satisfy at the target location
	posPri,oriPri	Relative priorities (weightings) of position and orientation solutions in case they are mutually exclusive

Implements IKSolver.

Definition at line 11 of file IKGradientSolver.cc.

Referenced by IKCalliope::gradientSolve().

IKSolver::StepResult_t IKGradientSolver::step	(	const Point &	pEff,
		const Rotation &	oriEff,
		KinematicJoint &	j,
		const Position &	pTgt,
		float	pDist,
		float	posPri,
		const Orientation &	oriTgt,
		float	oriDist,
		float	oriPri,
		bool	successInReach,
		unsigned int	root
	)			const [virtual]

Definition at line 384 of file IKGradientSolver.cc.

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

Definition at line 87 of file IKGradientSolver.cc.

virtual IKSolver::StepResult_t IKGradientSolver::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]

Move an 'effector' (pEff, oriEff, relative to link following j) towards a solution of pTgt, oriTgt (or at least a local minimum).

pDist and oriDist specifies the maximum distance to move towards each solution; posPri and oriPri specify relative weighting of each solution in case they are mutually exclusive

Implements IKSolver.

Definition at line 28 of file IKGradientSolver.h.

Referenced by solve().

---

Member Data Documentation

const std::string IKGradientSolver::autoRegisterDefaultIKSolver = IKSolver::getRegistry().registerType<IKGradientSolver>("") [static, private]

since this is the default solver, also register as "" (empty name)

Definition at line 53 of file IKGradientSolver.h.

const std::string IKGradientSolver::autoRegisterIKGradientSolver = IKSolver::getRegistry().registerType<IKGradientSolver>("IKGradientSolver") [static, private]

holds the class name, set via registration with the DeviceDriver registry

Definition at line 51 of file IKGradientSolver.h.

const unsigned int IKGradientSolver::MAX_ITER [protected]

maximum number of iterations to attempt

Definition at line 48 of file IKGradientSolver.h.

Referenced by solve().

const float IKGradientSolver::OTOL [protected]

orientation tolerance

Definition at line 46 of file IKGradientSolver.h.

Referenced by step().

const float IKGradientSolver::PTOL [protected]

position tolerance

Definition at line 45 of file IKGradientSolver.h.

Referenced by step().

const float IKGradientSolver::QTOL [protected]

joint angle tolerance

Definition at line 47 of file IKGradientSolver.h.

Referenced by solve(), and step().

---

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

• IKGradientSolver.h
• IKGradientSolver.cc