IKSolver Class Reference
Provides an abstract interface to inverse kinematic solvers. More...
#include <IKSolver.h>
Detailed Description
Provides an abstract interface to inverse kinematic solvers.
Definition at line 11 of file IKSolver.h.
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 allow 0 freedoms (here specified as a quaternion). 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 () |
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 156 of file IKSolver.h.
Member Enumeration Documentation
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.
Constructor & Destructor Documentation
| virtual IKSolver::~IKSolver | ( | ) | [virtual] |
destructor
Definition at line 120 of file IKSolver.h.
Member Function Documentation
| static registry_t& IKSolver::getRegistry | ( | ) | [static] |
Definition at line 157 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)
posPri and oriPri specify relative weighting of each solution in case they are mutually exclusive
Implemented in IKCalliope, IKGradientSolver, IKThreeLink, and PlanarThreeLinkArm.
| 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)
Definition at line 128 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)
Definition at line 123 of file IKSolver.h.
Referenced by GaitedFootsteps::addCandidate(), GaitedFootsteps::addRotation(), CBracketGrasperPredicate< N >::admissible(), ArmController::cmdPointPicker(), Grasper::computeGoalStates(), GaitedFootsteps::expand(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), 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, IKThreeLink, and PlanarThreeLinkArm.
| 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 145 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 139 of file IKSolver.h.
Referenced by step().
The documentation for this class was generated from the following file:
