The specification of a TSR. More...

#include <tsr.h>

Public Member Functions
Constructors
	Specification ()=default
	Default constructor. More...

	Specification (const std::string &structure, const std::string &target_frame, const Eigen::Ref< const Eigen::Vector3d > &position, const Eigen::Quaterniond &rotation)
	Constructor for basic pose TSR constrained in world frame. More...


void	setTarget (const std::string &structure, const std::string &frame)
	Setting TSR Frame. More...

void	setBase (const std::string &structure, const std::string &frame)
	Set the base frame. More...

void	setFrame (const std::string &structure, const std::string &target, const std::string &base=magic::ROOT_FRAME)
	Set the base and target frame. More...

void	addSuffix (const std::string &suffix)
	Add a suffix to the structures for the target and base frame. More...


void	setPosition (const Eigen::Ref< const Eigen::Vector3d > &position)
	Setting TSR Pose. More...

void	setPosition (double x, double y, double z)
	Set the position of the TSR. More...

void	setRotation (const Eigen::Quaterniond &orientation)
	Set the rotation of the TSR. More...

void	setRotation (double w, double x, double y, double z)
	Set the rotation of the TSR as a quaternion. More...

void	setRotation (double x, double y, double z)
	Set the rotation of the TSR as XYZ Euler angles. More...

void	setPose (const RobotPose &other)
	Set the pose of the TSR. More...

void	setPose (const Eigen::Ref< const Eigen::Vector3d > &position, const Eigen::Quaterniond &rotation)
	Set the pose of the TSR. More...

void	setPose (double xp, double yp, double zp, double wr, double xr, double yr, double zr)
	Set the pose of the TSR. More...

void	setPoseFromWorld (const WorldPtr &world)
	Set the pose of the TSR for the desired frame in a provided world. Uses world's current configuration. More...


void	setXPosTolerance (double bound)
	Setting Position Tolerances. More...

void	setYPosTolerance (double bound)
	Set the Y position tolerance to (-bound, bound). More...

void	setZPosTolerance (double bound)
	Set the Z position tolerance to (-bound, bound). More...

void	setXPosTolerance (double lower, double upper)
	Set the X position tolerance to (lower, upper). More...

void	setYPosTolerance (double lower, double upper)
	Set the Y position tolerance to (lower, upper). More...

void	setZPosTolerance (double lower, double upper)
	Set the Z position tolerance to (lower, upper). More...

void	setNoXPosTolerance ()
	Set no position tolerance on the X-axis. More...

void	setNoYPosTolerance ()
	Set no position tolerance on the Y-axis. More...

void	setNoZPosTolerance ()
	Set no position tolerance on the Z-axis. More...

void	setNoPosTolerance ()
	Set no position tolerance at all. More...


void	setXRotTolerance (double bound)
	Setting Orientation Tolerances. More...

void	setYRotTolerance (double bound)
	Set the Y orientation tolerance to (-bound, bound). More...

void	setZRotTolerance (double bound)
	Set the Z orientation tolerance to (-bound, bound). More...

void	setXRotTolerance (double lower, double upper)
	Set the X orientation tolerance to (lower, upper). More...

void	setYRotTolerance (double lower, double upper)
	Set the Y orientation tolerance to (lower, upper). More...

void	setZRotTolerance (double lower, double upper)
	Set the Z orientation tolerance to (lower, upper). More...

void	setNoXRotTolerance ()
	Set no orientation tolerance on the X-axis. More...

void	setNoYRotTolerance ()
	Set no orientation tolerance on the Y-axis. More...

void	setNoZRotTolerance ()
	Set no orientation tolerance on the Z-axis. More...

void	setNoRotTolerance ()
	Set no orientation tolerance at all. More...


Eigen::Vector3d	getPosition () const
	Getters and Informative Methods. More...

Eigen::Quaterniond	getRotation () const
	Get the current desired orientation. More...

Eigen::Vector3d	getEulerRotation () const
	Get the current desired orientation. More...

bool	isPositionConstrained () const
	Returns true if TSR is position constrained. More...

bool	isRotationConstrained () const
	Returns true if TSR is orientation constrained. More...

bool	isRelative () const
	Returns true if TSR is a relative reference frame (not the world). More...

void	print (std::ostream &out) const
	Print out this TSR information. More...


bool	intersect (const Specification &other)
	Operations. More...

Public Attributes
struct {
std::string structure
	Structure target frame is in. More...

std::string frame
	Name of target frame. More...

}	target
	Target frame. More...

struct {
std::string structure
	Structure base frame is in. More...

std::string frame {magic::ROOT_FRAME}
	Name of base frame. More...

}	base
	Base frame. More...

RobotPose	pose {RobotPose::Identity()}
	Pose of TSR. More...

struct {
ROBOWFLEX_EIGEN Eigen::Vector3d upper {magic::DEFAULT_IK_TOLERANCES}
	Upper position tolerance. More...

Eigen::Vector3d lower {-magic::DEFAULT_IK_TOLERANCES}
	Lower position tolerance. More...

}	position
	Position tolerances. More...

struct {
ROBOWFLEX_EIGEN Eigen::Vector3d upper {magic::DEFAULT_IK_TOLERANCES}
	Upper orientation tolerance. More...

Eigen::Vector3d lower {-magic::DEFAULT_IK_TOLERANCES}
	Lower orientation tolerance. More...

}	orientation
	Orientation tolerances. More...

std::size_t	dimension {6}
	Number of constrained dimensions. More...

std::vector< bool >	indices {std::vector<bool>(6, true)}
	Vector of active constraints. If an index is true, that constraint is active. Ordered by X-, Y-, Z- orientation constraints, then X-, Y-, Z- position. More...

std::size_t	maxIter {50}
	Maximum iterations for solver. More...

double	tolerance {magic::DEFAULT_IK_TOLERANCE}
	Tolerance on solution for solver. More...

Private Member Functions
void	fixBounds ()
	Fixes bounds so they are correct. More...

std::size_t	getDimension () const
	Compute and return constraint dimension of the TSR. More...

bool	isPosConstrained (double lower, double upper) const
	Checks if two values correspond to a position constraint. More...

bool	isRotConstrained (double lower, double upper) const
	Checks if two values correspond to a orientation constraint. More...

Detailed Description

The specification of a TSR.

Definition at line 69 of file tsr.h.

Constructor & Destructor Documentation

◆ Specification() [1/2]

robowflex::darts::TSR::Specification::Specification ( )

default

Default constructor.

◆ Specification() [2/2]

TSR::Specification::Specification	(	const std::string &	structure,
		const std::string &	target_frame,
		const Eigen::Ref< const Eigen::Vector3d > &	position,
		const Eigen::Quaterniond &	rotation
	)

Constructor for basic pose TSR constrained in world frame.

Parameters

[in]	structure	Structure TSR is on (both target and base frames).
[in]	target_frame	Target frame.
[in]	position	Desired position.
[in]	rotation	Desired orientation.

TSR::Specification

Definition at line 25 of file tsr.cpp.

 {
     setTarget(structure, target_frame);
     setPose(position, rotation);
 }

Member Function Documentation

◆ addSuffix()

void TSR::Specification::addSuffix ( const std::string & suffix )

Add a suffix to the structures for the target and base frame.

Parameters

[in] suffix Suffix to add to structures in target and base frame.

Definition at line 58 of file tsr.cpp.

 {
     target.structure = target.structure + suffix;
     base.structure = base.structure + suffix;
 }

◆ fixBounds()

void TSR::Specification::fixBounds ( )

private

Fixes bounds so they are correct.

Definition at line 262 of file tsr.cpp.

 {
     {
         Eigen::Vector3d u, l;
         for (std::size_t i = 0; i < 3; ++i)
         {
             u[i] = std::max(position.lower[i], position.upper[i]);
             l[i] = std::min(position.lower[i], position.upper[i]);
         }
  
         position.lower = l;
         position.upper = u;
     }
  
     {
         Eigen::Vector3d u, l;
         for (std::size_t i = 0; i < 3; ++i)
         {
             u[i] = std::max({orientation.lower[i], orientation.upper[i], -constants::pi});
             l[i] = std::min({orientation.lower[i], orientation.upper[i], constants::pi});
         }
  
         orientation.lower = l;
         orientation.upper = u;
     }
 }

◆ getDimension()

std::size_t TSR::Specification::getDimension ( ) const

private

Compute and return constraint dimension of the TSR.

Returns: Dimension of TSR.

Definition at line 289 of file tsr.cpp.

 {
     std::size_t k = 0;
     for (const auto &idx : indices)
     {
         if (idx)
             k++;
     }
  
     return k;
 }

◆ getEulerRotation()

Eigen::Vector3d TSR::Specification::getEulerRotation ( ) const

Get the current desired orientation.

Returns: Orientation as XYZ Euler angles.

Definition at line 321 of file tsr.cpp.

 {
     return getRotation().toRotationMatrix().eulerAngles(0, 1, 2);
 }

◆ getPosition()

Eigen::Vector3d TSR::Specification::getPosition ( ) const

Getters and Informative Methods.

Get the current desired position.

Returns: Position vector.

Definition at line 311 of file tsr.cpp.

 {
     return pose.translation();
 }

◆ getRotation()

Eigen::Quaterniond TSR::Specification::getRotation ( ) const

Get the current desired orientation.

Returns: Orientation quaternion.

Definition at line 316 of file tsr.cpp.

 {
     return TF::getPoseRotation(pose);
 }

◆ intersect()

bool TSR::Specification::intersect ( const Specification & other )

Operations.

Compute the intersection of this TSR with the other.

Returns: True if successful, false on failure.

Definition at line 326 of file tsr.cpp.

 {
     // must be same reference frame
     if (target.structure != other.target.structure or target.frame != other.target.frame)
         return false;
  
     if (base.structure != other.base.structure or base.frame != other.base.frame)
         return false;
  
     // TODO: Check if rotations overlap
     // if (getRotation().angularDistance(other.getRotation()) > magic::DEFAULT_IK_TOLERANCE)
     //     return false;
  
     Eigen::Vector3d p = getPosition();
     Eigen::Vector3d op = other.getPosition();
  
     // check if positions overlap
     for (std::size_t i = 0; i < 3; ++i)
     {
         double pi = p[i], piu = position.upper[i], pil = position.lower[i];
         double opi = op[i], opiu = other.position.upper[i], opil = other.position.lower[i];
  
         //   pi---------> piu
         // --|------|------|------|-- axis
         //        opil <---------opi
         // Check if overlap
  
         if (pi < opi)
             if ((pi + piu) < (opi + opil))
                 return false;
  
         //  opi--------> opiu
         // --|------|------|------|-- axis
         //         pil <----------pi
         // Check if overlap
  
         if (pi > opi)
             if ((pi + pil) > (opi + opiu))
                 return false;
     }
  
     Eigen::Vector3d np;
  
     if (not isRotationConstrained())
         setRotation(other.getRotation());
  
     // enforce new bounds
     for (std::size_t i = 0; i < 3; ++i)
     {
         if (other.orientation.lower[i] > orientation.lower[i])
             orientation.lower[i] = other.orientation.lower[i];
         if (other.orientation.upper[i] < orientation.upper[i])
             orientation.upper[i] = other.orientation.upper[i];
  
         double pi = p[i], piu = position.upper[i], pil = position.lower[i];
         double opi = op[i], opiu = other.position.upper[i], opil = other.position.lower[i];
  
         double low = std::max(pi + pil, opi + opil);
         double high = std::min(pi + piu, opi + opiu);
  
         np[i] = (high + low) / 2.;
         double v = std::fabs(high - np[i]);
  
         position.upper[i] = v;
         position.lower[i] = -v;
  
         indices[i] = isRotConstrained(orientation.lower[i], orientation.upper[i]);
         indices[3 + i] = isPosConstrained(-v, v);
     }
  
     dimension = getDimension();
     setPosition(np);
  
     return true;
 }

◆ isPosConstrained()

bool TSR::Specification::isPosConstrained	(	double	lower,
		double	upper
	)		const

private

Checks if two values correspond to a position constraint.

Returns: If (lower, upper) is bounded or not.

Definition at line 301 of file tsr.cpp.

 {
     return std::isfinite(lower) or std::isfinite(upper);
 }

◆ isPositionConstrained()

bool TSR::Specification::isPositionConstrained ( ) const

Returns true if TSR is position constrained.

Returns: True if position constrained.

Definition at line 407 of file tsr.cpp.

 {
     bool value = false;
     for (std::size_t i = 0; i < 3; ++i)
         value |= isPosConstrained(position.lower[i], position.upper[i]);
  
     return value;
 }

◆ isRelative()

bool TSR::Specification::isRelative ( ) const

Returns true if TSR is a relative reference frame (not the world).

Returns: True if this is a relative reference frame.

Definition at line 402 of file tsr.cpp.

 {
     return base.frame != magic::ROOT_FRAME;
 }

◆ isRotationConstrained()

bool TSR::Specification::isRotationConstrained ( ) const

Returns true if TSR is orientation constrained.

Returns: True if orientation constrained.

Definition at line 416 of file tsr.cpp.

 {
     bool value = false;
     for (std::size_t i = 0; i < 3; ++i)
         value |= isRotConstrained(orientation.lower[i], orientation.upper[i]);
  
     return value;
 }

◆ isRotConstrained()

bool TSR::Specification::isRotConstrained	(	double	lower,
		double	upper
	)		const

private

Checks if two values correspond to a orientation constraint.

Returns: If (lower, upper) is bounded or not.

Definition at line 306 of file tsr.cpp.

 {
     return std::abs(upper - lower) < constants::two_pi;
 }

◆ print()

void TSR::Specification::print ( std::ostream & out ) const

Print out this TSR information.

Parameters

[in] out Output stream.

Definition at line 425 of file tsr.cpp.

 {
     if (isRelative())
         out << boost::format("B:%1%:%2% => T:%3%:%4%")  //
                    % base.frame % base.structure % target.frame % target.structure;
     else
         out << boost::format("T:%1%:%2%")  //
                    % target.frame % target.structure;
  
     out << std::endl;
     out << "Position                          Orientation" << std::endl;
  
     auto p = getPosition();
     auto o = getRotation();
     out << boost::format(                                                                              //
                " x:%1$+07.4f (%2$+07.4f, %3$+07.4f) [%7%]  x:%4$+07.4f (%5$+07.4f, %6$+07.4f) [%8%]")  //
                % p[0] % position.lower[0] % position.upper[0]                                          //
                % o.x() % orientation.lower[0] % orientation.upper[0]                                   //
                % indices[3] % indices[0];
     out << std::endl;
     out << boost::format(                                                                              //
                " y:%1$+07.4f (%2$+07.4f, %3$+07.4f) [%7%]  y:%4$+07.4f (%5$+07.4f, %6$+07.4f) [%8%]")  //
                % p[1] % position.lower[1] % position.upper[1]                                          //
                % o.y() % orientation.lower[1] % orientation.upper[1]                                   //
                % indices[4] % indices[1];
     out << std::endl;
     out << boost::format(                                                                              //
                " z:%1$+07.4f (%2$+07.4f, %3$+07.4f) [%7%]  z:%4$+07.4f (%5$+07.4f, %6$+07.4f) [%8%]")  //
                % p[2] % position.lower[2] % position.upper[2]                                          //
                % o.z() % orientation.lower[2] % orientation.upper[2]                                   //
                % indices[5] % indices[2];
     out << std::endl;
     out << boost::format("                                   w:%1$+07.4f") % o.w();
     out << std::endl;
 }

◆ setBase()

void TSR::Specification::setBase	(	const std::string &	structure,
		const std::string &	frame
	)

Set the base frame.

Parameters

[in]	structure	Structure frame is in.
[in]	frame	Frame name.

Definition at line 42 of file tsr.cpp.

 {
     base.structure = structure;
     base.frame = frame;
 }

◆ setFrame()

void TSR::Specification::setFrame	(	const std::string &	structure,
		const std::string &	target,
		const std::string &	base = `magic::ROOT_FRAME`
	)

Set the base and target frame.

Parameters

[in]	structure	Structure frames are in.
[in]	target	Target frame name.
[in]	base	Base frame name.

Definition at line 48 of file tsr.cpp.

 {
     target.structure = structure;
     base.structure = structure;
  
     target.frame = target_frame;
     base.frame = base_frame;
 }

◆ setNoPosTolerance()

void TSR::Specification::setNoPosTolerance ( )

Set no position tolerance at all.

Definition at line 233 of file tsr.cpp.

 {
     setNoXPosTolerance();
     setNoYPosTolerance();
     setNoZPosTolerance();
 }

◆ setNoRotTolerance()

void TSR::Specification::setNoRotTolerance ( )

Set no orientation tolerance at all.

Definition at line 255 of file tsr.cpp.

 {
     setNoXRotTolerance();
     setNoYRotTolerance();
     setNoZRotTolerance();
 }

◆ setNoXPosTolerance()

void TSR::Specification::setNoXPosTolerance ( )

Set no position tolerance on the X-axis.

Definition at line 218 of file tsr.cpp.

 {
     setXPosTolerance(std::numeric_limits<double>::infinity());
 }

◆ setNoXRotTolerance()

void TSR::Specification::setNoXRotTolerance ( )

Set no orientation tolerance on the X-axis.

Definition at line 240 of file tsr.cpp.

 {
     setXRotTolerance(constants::pi);
 }

◆ setNoYPosTolerance()

void TSR::Specification::setNoYPosTolerance ( )

Set no position tolerance on the Y-axis.

Definition at line 223 of file tsr.cpp.

 {
     setYPosTolerance(std::numeric_limits<double>::infinity());
 }

◆ setNoYRotTolerance()

void TSR::Specification::setNoYRotTolerance ( )

Set no orientation tolerance on the Y-axis.

Definition at line 245 of file tsr.cpp.

 {
     setYRotTolerance(constants::pi);
 }

◆ setNoZPosTolerance()

void TSR::Specification::setNoZPosTolerance ( )

Set no position tolerance on the Z-axis.

Definition at line 228 of file tsr.cpp.

 {
     setZPosTolerance(std::numeric_limits<double>::infinity());
 }

◆ setNoZRotTolerance()

void TSR::Specification::setNoZRotTolerance ( )

Set no orientation tolerance on the Z-axis.

Definition at line 250 of file tsr.cpp.

 {
     setZRotTolerance(constants::pi);
 }

◆ setPose() [1/3]

void TSR::Specification::setPose	(	const Eigen::Ref< const Eigen::Vector3d > &	position,
		const Eigen::Quaterniond &	rotation
	)

Set the pose of the TSR.

Parameters

[in]	position	Desired position.
[in]	rotation	Desired rotation.

Definition at line 98 of file tsr.cpp.

 {
     pose = TF::createPoseQ(position, rotation);
 }

◆ setPose() [2/3]

void TSR::Specification::setPose ( const RobotPose & other )

Set the pose of the TSR.

Parameters

[in] other Pose to use.

Definition at line 93 of file tsr.cpp.

 {
     pose = other;
 }

◆ setPose() [3/3]

void TSR::Specification::setPose	(	double	xp,
		double	yp,
		double	zp,
		double	wr,
		double	xr,
		double	yr,
		double	zr
	)

Set the pose of the TSR.

Parameters

[in]	xp	X-coordinate of position.
[in]	yp	Y-coordinate of position.
[in]	zp	Z-coordinate of position.
[in]	wr	W-component of quaternion.
[in]	xr	X-component of quaternion.
[in]	yr	Y-component of quaternion.
[in]	zr	Z-component of quaternion.

Definition at line 104 of file tsr.cpp.

 {
     setPosition(xp, yp, zp);
     setRotation(wr, xr, yr, zr);
 }

◆ setPoseFromWorld()

void TSR::Specification::setPoseFromWorld ( const WorldPtr & world )

Set the pose of the TSR for the desired frame in a provided world. Uses world's current configuration.

Parameters

[in] world World to copy transform from.

Definition at line 110 of file tsr.cpp.

 {
     const auto &sim = world->getSim();
  
     const auto &tskl = sim->getSkeleton(target.structure);
     const auto &tbn = tskl->getBodyNode(target.frame);
  
     if (base.frame != magic::ROOT_FRAME)
     {
         const auto &bskl = sim->getSkeleton(base.structure);
         const auto &bbn = bskl->getBodyNode(base.frame);
  
         pose = tbn->getTransform(bbn);
     }
     else
         pose = tbn->getTransform();
 }

◆ setPosition() [1/2]

void TSR::Specification::setPosition ( const Eigen::Ref< const Eigen::Vector3d > & position )

Setting TSR Pose.

Set the position of the TSR.

Parameters

[in] position Position vector.

Definition at line 64 of file tsr.cpp.

 {
     pose.translation() = position;
 }

◆ setPosition() [2/2]

void TSR::Specification::setPosition	(	double	x,
		double	y,
		double	z
	)

Set the position of the TSR.

Parameters

[in]	x	X-coordinate.
[in]	y	Y-coordinate.
[in]	z	Z-coordinate.

Definition at line 69 of file tsr.cpp.

 {
     setPosition(Eigen::Vector3d(x, y, z));
 }

◆ setRotation() [1/3]

void TSR::Specification::setRotation ( const Eigen::Quaterniond & orientation )

Set the rotation of the TSR.

Parameters

[in] orientation Desired quaternion.

Definition at line 74 of file tsr.cpp.

 {
     pose.linear() = orientation.toRotationMatrix();
 }

◆ setRotation() [2/3]

void TSR::Specification::setRotation	(	double	w,
		double	x,
		double	y,
		double	z
	)

Set the rotation of the TSR as a quaternion.

Parameters

[in]	w	W-component of quaternion.
[in]	x	X-component of quaternion.
[in]	y	Y-component of quaternion.
[in]	z	Z-component of quaternion.

Definition at line 79 of file tsr.cpp.

 {
     setRotation(Eigen::Quaterniond(w, x, y, z));
 }

◆ setRotation() [3/3]

void TSR::Specification::setRotation	(	double	x,
		double	y,
		double	z
	)

Set the rotation of the TSR as XYZ Euler angles.

Parameters

[in]	x	X-component of rotation.
[in]	y	Y-component of rotation.
[in]	z	Z-component of rotation.

Definition at line 84 of file tsr.cpp.

 {
     auto n = Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX()) *  //
              Eigen::AngleAxisd(y, Eigen::Vector3d::UnitY()) *  //
              Eigen::AngleAxisd(z, Eigen::Vector3d::UnitZ());
  
     setRotation(n);
 }

◆ setTarget()

void TSR::Specification::setTarget	(	const std::string &	structure,
		const std::string &	frame
	)

Setting TSR Frame.

Set the target frame. Sets base frame structure as well if not already set.

Parameters

[in]	structure	Structure frame is in.
[in]	frame	Frame name.

Definition at line 33 of file tsr.cpp.

 {
     target.structure = structure;
     target.frame = frame;
  
     if (base.structure.empty())
         base.structure = structure;
 }

◆ setXPosTolerance() [1/2]

void TSR::Specification::setXPosTolerance ( double bound )

Setting Position Tolerances.

Set the X position tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 128 of file tsr.cpp.

 {
     setXPosTolerance(-bound, bound);
 }

◆ setXPosTolerance() [2/2]

void TSR::Specification::setXPosTolerance	(	double	lower,
		double	upper
	)

Set the X position tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 143 of file tsr.cpp.

 {
     position.lower[0] = lower;
     position.upper[0] = upper;
     fixBounds();
  
     indices[3] = isPosConstrained(lower, upper);
     dimension = getDimension();
 }

◆ setXRotTolerance() [1/2]

void TSR::Specification::setXRotTolerance ( double bound )

Setting Orientation Tolerances.

Set the X orientation tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 173 of file tsr.cpp.

 {
     setXRotTolerance(-bound, bound);
 }

◆ setXRotTolerance() [2/2]

void TSR::Specification::setXRotTolerance	(	double	lower,
		double	upper
	)

Set the X orientation tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 188 of file tsr.cpp.

 {
     orientation.lower[0] = lower;
     orientation.upper[0] = upper;
     fixBounds();
  
     indices[0] = isRotConstrained(lower, upper);
     dimension = getDimension();
 }

◆ setYPosTolerance() [1/2]

void TSR::Specification::setYPosTolerance ( double bound )

Set the Y position tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 133 of file tsr.cpp.

 {
     setYPosTolerance(-bound, bound);
 }

◆ setYPosTolerance() [2/2]

void TSR::Specification::setYPosTolerance	(	double	lower,
		double	upper
	)

Set the Y position tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 153 of file tsr.cpp.

 {
     position.lower[1] = lower;
     position.upper[1] = upper;
     fixBounds();
  
     indices[4] = isPosConstrained(lower, upper);
     dimension = getDimension();
 }

◆ setYRotTolerance() [1/2]

void TSR::Specification::setYRotTolerance ( double bound )

Set the Y orientation tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 178 of file tsr.cpp.

 {
     setYRotTolerance(-bound, bound);
 }

◆ setYRotTolerance() [2/2]

void TSR::Specification::setYRotTolerance	(	double	lower,
		double	upper
	)

Set the Y orientation tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 198 of file tsr.cpp.

 {
     orientation.lower[1] = lower;
     orientation.upper[1] = upper;
     fixBounds();
  
     indices[1] = isRotConstrained(lower, upper);
     dimension = getDimension();
 }

◆ setZPosTolerance() [1/2]

void TSR::Specification::setZPosTolerance ( double bound )

Set the Z position tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 138 of file tsr.cpp.

 {
     setZPosTolerance(-bound, bound);
 }

◆ setZPosTolerance() [2/2]

void TSR::Specification::setZPosTolerance	(	double	lower,
		double	upper
	)

Set the Z position tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 163 of file tsr.cpp.

 {
     position.lower[2] = lower;
     position.upper[2] = upper;
     fixBounds();
  
     indices[5] = isPosConstrained(lower, upper);
     dimension = getDimension();
 }

◆ setZRotTolerance() [1/2]

void TSR::Specification::setZRotTolerance ( double bound )

Set the Z orientation tolerance to (-bound, bound).

Parameters

[in] bound Bound to set.

Definition at line 183 of file tsr.cpp.

 {
     setZRotTolerance(-bound, bound);
 }

◆ setZRotTolerance() [2/2]

void TSR::Specification::setZRotTolerance	(	double	lower,
		double	upper
	)

Set the Z orientation tolerance to (lower, upper).

Parameters

[in]	lower	Lower bound.
[in]	upper	Upper bound.

Definition at line 208 of file tsr.cpp.

 {
     orientation.lower[2] = lower;
     orientation.upper[2] = upper;
     fixBounds();
  
     indices[2] = isRotConstrained(lower, upper);
     dimension = getDimension();
 }

Member Data Documentation

◆

struct { ... } robowflex::darts::TSR::Specification::base

Base frame.

◆ dimension

std::size_t robowflex::darts::TSR::Specification::dimension {6}

Number of constrained dimensions.

Definition at line 102 of file tsr.h.

◆ frame

std::string robowflex::darts::TSR::Specification::frame {magic::ROOT_FRAME}

Name of target frame.

Name of base frame.

Definition at line 77 of file tsr.h.

◆ indices

std::vector<bool> robowflex::darts::TSR::Specification::indices {std::vector<bool>(6, true)}

Vector of active constraints. If an index is true, that constraint is active. Ordered by X-, Y-, Z- orientation constraints, then X-, Y-, Z- position.

Definition at line 107 of file tsr.h.

◆ lower

Eigen::Vector3d robowflex::darts::TSR::Specification::lower {-magic::DEFAULT_IK_TOLERANCES}

Lower position tolerance.

Lower orientation tolerance.

Definition at line 92 of file tsr.h.

◆ maxIter

std::size_t robowflex::darts::TSR::Specification::maxIter {50}

Maximum iterations for solver.

Definition at line 109 of file tsr.h.

◆

struct { ... } robowflex::darts::TSR::Specification::orientation

Orientation tolerances.

◆ pose

RobotPose robowflex::darts::TSR::Specification::pose {RobotPose::Identity()}

Pose of TSR.

Definition at line 86 of file tsr.h.

◆

struct { ... } robowflex::darts::TSR::Specification::position

Position tolerances.

◆ structure

std::string robowflex::darts::TSR::Specification::structure

Structure target frame is in.

Structure base frame is in.

Definition at line 76 of file tsr.h.

◆

ROBOWFLEX_EIGEN { ... } robowflex::darts::TSR::Specification::target

Target frame.

◆ tolerance

double robowflex::darts::TSR::Specification::tolerance {magic::DEFAULT_IK_TOLERANCE}

Tolerance on solution for solver.

Definition at line 110 of file tsr.h.

◆ upper

ROBOWFLEX_EIGEN Eigen::Vector3d robowflex::darts::TSR::Specification::upper {magic::DEFAULT_IK_TOLERANCES}

Upper position tolerance.

Upper orientation tolerance.

Definition at line 91 of file tsr.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Specification() [1/2]

◆ Specification() [2/2]

Member Function Documentation

◆ addSuffix()

◆ fixBounds()

◆ getDimension()

◆ getEulerRotation()

◆ getPosition()

◆ getRotation()

◆ intersect()

◆ isPosConstrained()

◆ isPositionConstrained()

◆ isRelative()

◆ isRotationConstrained()

◆ isRotConstrained()

◆ print()

◆ setBase()

◆ setFrame()

◆ setNoPosTolerance()

◆ setNoRotTolerance()

◆ setNoXPosTolerance()

◆ setNoXRotTolerance()

◆ setNoYPosTolerance()

◆ setNoYRotTolerance()

◆ setNoZPosTolerance()

◆ setNoZRotTolerance()

◆ setPose() [1/3]

◆ setPose() [2/3]

◆ setPose() [3/3]

◆ setPoseFromWorld()

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ setRotation() [1/3]

◆ setRotation() [2/3]

◆ setRotation() [3/3]

◆ setTarget()

◆ setXPosTolerance() [1/2]

◆ setXPosTolerance() [2/2]

◆ setXRotTolerance() [1/2]

◆ setXRotTolerance() [2/2]

◆ setYPosTolerance() [1/2]

◆ setYPosTolerance() [2/2]

◆ setYRotTolerance() [1/2]

◆ setYRotTolerance() [2/2]

◆ setZPosTolerance() [1/2]

◆ setZPosTolerance() [2/2]

◆ setZRotTolerance() [1/2]

◆ setZRotTolerance() [2/2]

Member Data Documentation

◆

◆ dimension

◆ frame

◆ indices

◆ lower

◆ maxIter

◆

◆ pose

◆

◆ structure

◆

◆ tolerance

◆ upper