PlanarThreeLinkArm Class Reference

Kinematics solver for an arm composed of three consecutive joints in the same plane. More...

#include <PlanarThreeLinkArm.h>

Inheritance diagram for PlanarThreeLinkArm:

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Detailed Description

Kinematics solver for an arm composed of three consecutive joints in the same plane.

Definition at line 11 of file PlanarThreeLinkArm.h.

List of all members.

Classes
struct	Solutions
Public Member Functions
	PlanarThreeLinkArm ()
	Constructor: use the last three links in the chain.
	PlanarThreeLinkArm (unsigned int offset)
	Constructor: specifies the first joint in the chain.
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 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).
void	PrintVariables () const
PlanarThreeLinkArm::Solutions	solveWithOffset (float x, float y, float pref_phi, fmat::Column< 3 > baseOffset=fmat::pack(0.0f, 0.0f, 1.0f)) const
PlanarThreeLinkArm::Solutions	invKin3LinkRelaxPhi (float x, float y, float pref_phi) const
PlanarThreeLinkArm::Solutions	nearConfig (PlanarThreeLinkArm::Solutions sol, float elbow, bool valid) const
PlanarThreeLinkArm::Solutions	punt (float x, float y) const
PlanarThreeLinkArm::Solutions	validAngles (PlanarThreeLinkArm::Solutions solutions) const
PlanarThreeLinkArm::Solutions	invKin3Link (float x, float y, float phi) const
fmat::Matrix< 2, 2 >	invKin2Link (float x, float y, float link1, float link2) const
PlanarThreeLinkArm::Solutions	invKin2Link (float x, float y) const
float	angDist (float a1, float a2) const
float	angNorm (float a) const
fmat::Matrix< 2, 2 >	rot (float t) const
float	getL1 () const
float	getL2 () const
float	getL3 () const
void	setL1 (float length1, float jointMax, float jointMin)
void	setL2 (float length2, float jointMax, float jointMin)
void	setL3 (float length3, float jointMax, float jointMin)
Private Attributes
float	L1
float	L2
float	L3
float	jointLimits [3][2]
Static Private Attributes
static const std::string	autoRegisterPlanarThreeLinkArm = IKSolver::getRegistry().registerType<PlanarThreeLinkArm>("PlanarThreeLinkArm")
	holds the class name, set via registration with the DeviceDriver registry

Constructor & Destructor Documentation

PlanarThreeLinkArm::PlanarThreeLinkArm ( )

Constructor: use the last three links in the chain.

Definition at line 11 of file PlanarThreeLinkArm.cc.

PlanarThreeLinkArm::PlanarThreeLinkArm ( unsigned int offset )

Constructor: specifies the first joint in the chain.

Definition at line 45 of file PlanarThreeLinkArm.cc.

Member Function Documentation

float PlanarThreeLinkArm::angDist	(	float	a1,
		float	a2
	)			const

Definition at line 280 of file PlanarThreeLinkArm.cc.

float PlanarThreeLinkArm::angNorm ( float a ) const

Definition at line 289 of file PlanarThreeLinkArm.cc.

Referenced by invKin3LinkRelaxPhi().

float PlanarThreeLinkArm::getL1 ( ) const

Definition at line 304 of file PlanarThreeLinkArm.cc.

float PlanarThreeLinkArm::getL2 ( ) const

Definition at line 308 of file PlanarThreeLinkArm.cc.

float PlanarThreeLinkArm::getL3 ( ) const

Definition at line 312 of file PlanarThreeLinkArm.cc.

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::invKin2Link	(	float	x,
		float	y
	)			const

Definition at line 195 of file PlanarThreeLinkArm.cc.

fmat::Matrix< 2, 2 > PlanarThreeLinkArm::invKin2Link	(	float	x,
		float	y,
		float	link1,
		float	link2
	)			const

Definition at line 178 of file PlanarThreeLinkArm.cc.

Referenced by invKin3Link().

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::invKin3Link	(	float	x,
		float	y,
		float	phi
	)			const

Definition at line 124 of file PlanarThreeLinkArm.cc.

Referenced by invKin3LinkRelaxPhi(), and solveWithOffset().

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::invKin3LinkRelaxPhi	(	float	x,
		float	y,
		float	pref_phi
	)			const

Definition at line 88 of file PlanarThreeLinkArm.cc.

Referenced by solve().

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::nearConfig	(	PlanarThreeLinkArm::Solutions	sol,
		float	elbow,
		bool	valid
	)			const

Definition at line 150 of file PlanarThreeLinkArm.cc.

void PlanarThreeLinkArm::PrintVariables ( ) const

Definition at line 61 of file PlanarThreeLinkArm.cc.

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::punt	(	float	x,
		float	y
	)			const

Definition at line 168 of file PlanarThreeLinkArm.cc.

Referenced by invKin3LinkRelaxPhi().

fmat::Matrix< 2, 2 > PlanarThreeLinkArm::rot ( float t ) const

Definition at line 296 of file PlanarThreeLinkArm.cc.

void PlanarThreeLinkArm::setL1	(	float	length1,
		float	jointMax,
		float	jointMin
	)

Definition at line 316 of file PlanarThreeLinkArm.cc.

void PlanarThreeLinkArm::setL2	(	float	length2,
		float	jointMax,
		float	jointMin
	)

Definition at line 322 of file PlanarThreeLinkArm.cc.

void PlanarThreeLinkArm::setL3	(	float	length3,
		float	jointMax,
		float	jointMin
	)

Definition at line 328 of file PlanarThreeLinkArm.cc.

bool PlanarThreeLinkArm::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).

posPri and oriPri specify relative weighting of each solution in case they are mutually exclusive

Implements IKSolver.

Definition at line 68 of file PlanarThreeLinkArm.cc.

Referenced by step().

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::solveWithOffset	(	float	x,
		float	y,
		float	pref_phi,
		fmat::Column< 3 >	baseOffset = `fmat::pack(0.0f, 0.0f,1.0f)`
	)			const

Definition at line 116 of file PlanarThreeLinkArm.cc.

IKSolver::StepResult_t PlanarThreeLinkArm::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 334 of file PlanarThreeLinkArm.cc.

PlanarThreeLinkArm::Solutions PlanarThreeLinkArm::validAngles ( PlanarThreeLinkArm::Solutions solutions ) const

Definition at line 243 of file PlanarThreeLinkArm.cc.

Referenced by invKin3Link().