IKGradientSolver Class Reference

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

#include <IKGradientSolver.h>

Inheritance diagram for IKGradientSolver:

[legend]

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Detailed Description

Performs gradient descent on the joints to find a solution.

This is intended as a generic fallback for IK requests which 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 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
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)

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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 15 of file IKGradientSolver.h.

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Member Function Documentation

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)

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

Implements IKSolver.

Definition at line 11 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 81 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 20 of file IKGradientSolver.h.

Referenced by solve().

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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 36 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 34 of file IKGradientSolver.h.

const unsigned int IKGradientSolver::MAX_ITER [protected]

maximum number of iterations to attempt

Definition at line 30 of file IKGradientSolver.h.

Referenced by solve().

const float IKGradientSolver::OTOL [protected]

orientation tolerance

Definition at line 28 of file IKGradientSolver.h.

Referenced by step().

const float IKGradientSolver::PTOL [protected]

position tolerance

Definition at line 27 of file IKGradientSolver.h.

Referenced by step().

const float IKGradientSolver::QTOL [protected]

joint angle tolerance

Definition at line 29 of file IKGradientSolver.h.

Referenced by solve(), and step().

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

• IKGradientSolver.h
• IKGradientSolver.cc