IKSolver Class Reference

Provides an abstract interface to inverse kinematic solvers. More...

#include <IKSolver.h>

Inheritance diagram for IKSolver:

[legend]

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Detailed Description

Provides an abstract interface to inverse kinematic solvers.

Definition at line 11 of file IKSolver.h.

List of all members.

Classes
struct	Cone
	Cone allows 1-2 freedoms (roll, trade off pitch vs. yaw). More...
struct	Line
	Lines allow 1 freedom, slide along line. More...
struct	Orientation
	Abstract base class for orientation information. More...
struct	Parallel
	Parallel allows 1 freedom (roll along z vector). More...
struct	Plane
	Planes allow 2 freedoms, move in plane. More...
struct	Point
	Points allow 0 freedoms. More...
struct	Position
	Abstract base class for position information. More...
struct	Rotation
	Rotation (here specified as a quaternion) allows 0 freedoms. More...
Public Types
enum	StepResult_t { SUCCESS, PROGRESS, LIMITS, RANGE }
	Indicates the type of progress made by the step() family. More...
typedef FamilyFactory < IKSolver, std::string, Factory0Arg< IKSolver > >	registry_t
	shorthand for type registry to allow dynamically instantiating IKSolvers based on the name found in configuration files
Public Member Functions
virtual	~IKSolver ()
	destructor
virtual bool	solve (const Point &pEff, KinematicJoint &j, const Position &pTgt) const
	Solve to get an 'effector' point pEff (relative to link following j) to a solution of pTgt (or at least a local minimum).
virtual bool	solve (const Rotation &oriEff, KinematicJoint &j, const Orientation &oriTgt) const
	Solve to get an 'effector' orientation oriEff (relative to link following j) to a solution of 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) const =0
	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 StepResult_t	step (const Point &pEff, KinematicJoint &j, const Position &pTgt, float pDist) const
	Move an 'effector' point pEff (relative to link following j) towards a solution of pTgt (or at least a local minimum).
virtual StepResult_t	step (const Rotation &oriEff, KinematicJoint &j, const Orientation &oriTgt, float oriDist) const
	Move an 'effector' orientation oriEff (relative to link following j) towards a solution of oriTgt (or at least a local minimum).
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 =0
	Move an 'effector' (pEff, oriEff, relative to link following j) towards a solution of pTgt, oriTgt (or at least a local minimum).
Static Public Member Functions
static registry_t &	getRegistry ()

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Member Typedef Documentation

typedef FamilyFactory<IKSolver,std::string,Factory0Arg<IKSolver> > IKSolver::registry_t

shorthand for type registry to allow dynamically instantiating IKSolvers based on the name found in configuration files

Definition at line 186 of file IKSolver.h.

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Member Enumeration Documentation

enum IKSolver::StepResult_t

Indicates the type of progress made by the step() family.

Enumerator:

SUCCESS	goal was reached
PROGRESS	step moved closer
LIMITS	not able to progress due to joint limits
RANGE	not able to progress due to target out of reach

Definition at line 14 of file IKSolver.h.

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Constructor & Destructor Documentation

virtual IKSolver::~IKSolver

(

)

[virtual]

destructor

Definition at line 134 of file IKSolver.h.

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Member Function Documentation

static registry_t& IKSolver::getRegistry

(

)

[static]

Definition at line 187 of file IKSolver.h.

Referenced by KinematicJoint::getIK().

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

Implemented in IKCalliope, IKGradientSolver, and IKThreeLink.

virtual bool IKSolver::solve	(	const Rotation &	oriEff,
		KinematicJoint &	j,
		const Orientation &	oriTgt
	)			const [virtual]

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

Parameters:

	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)
	oriTgt	The Orientation constraint that pEff should satisfy at the target location

Definition at line 151 of file IKSolver.h.

virtual bool IKSolver::solve	(	const Point &	pEff,
		KinematicJoint &	j,
		const Position &	pTgt
	)			const [virtual]

Solve to get an 'effector' point pEff (relative to link following j) to a solution of pTgt (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.
	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

Definition at line 142 of file IKSolver.h.

Referenced by GaitedFootsteps::addCandidate(), GaitedFootsteps::addRotation(), CBracketGrasperPredicate< N >::admissible(), Grasper::checkGoalCandidate(), Grasper::PlanArmApproach::doStart(), GaitedFootsteps::expand(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), ArmController::pointPicked(), ArmController::sendReachablePoints(), solve(), XWalkMC::solveIK(), GaitedFootstepMC::solveIK(), PostureEngine::solveLink(), PostureEngine::solveLinkOrientation(), and PostureEngine::solveLinkPosition().

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

Implemented in IKCalliope, IKGradientSolver, and IKThreeLink.

virtual StepResult_t IKSolver::step	(	const Rotation &	oriEff,
		KinematicJoint &	j,
		const Orientation &	oriTgt,
		float	oriDist
	)			const [virtual]

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

oriDist specifies the maximum distance to move in radians

Definition at line 175 of file IKSolver.h.

virtual StepResult_t IKSolver::step	(	const Point &	pEff,
		KinematicJoint &	j,
		const Position &	pTgt,
		float	pDist
	)			const [virtual]

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

pDist specifies the maximum distance to move

Definition at line 169 of file IKSolver.h.

Referenced by step().

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

• IKSolver.h