se2ez::CollisionAwareChainIK Class Reference
Convenience wrapper around CollisionAwareTreeIK for solving chains with a single tip frame. More...
#include <ik.h>
Inheritance diagram for se2ez::CollisionAwareChainIK:
Public Member Functions | |
| CollisionAwareChainIK (const RobotPtr &robot, const std::string &frame, unsigned int iterations=50, double eps=1e-4) | |
| Constructor. More... | |
| virtual | ~CollisionAwareChainIK () |
| Destructor. More... | |
| CollisionAwareChainIK (const CollisionAwareChainIK &)=delete | |
| CollisionAwareChainIK (CollisionAwareChainIK &&)=delete | |
| bool | solve (StatePtr state, const Eigen::Isometry2d &frame, Request request=ALL) |
| Solve an IK request. More... | |
 Public Member Functions inherited from se2ez::CollisionAwareTreeIK | |
| CollisionAwareTreeIK (const RobotPtr &robot, const std::vector< std::string > &frames, unsigned int iterations=50, double eps=1e-4) | |
| Constructor. More... | |
| CollisionAwareTreeIK (const CollisionAwareTreeIK &)=delete | |
| CollisionAwareTreeIK (CollisionAwareTreeIK &&)=delete | |
| Public Member Functions inherited from se2ez::TreeIK | |
| TreeIK (const RobotPtr &robot, const std::vector< std::string > &frames, unsigned int iterations=50, double eps=1e-4) | |
| Constructor. More... | |
| TreeIK (const TreeIK &)=delete | |
| TreeIK (TreeIK &&)=delete | |
| bool | solve (StatePtr state, const tf::EigenMap< std::string, Eigen::Isometry2d > &frames, const std::map< std::string, Request > &request={}) |
| Solve an IK request. More... | |
| void | setJointWeight (const std::string &frame, const Eigen::VectorXd &weights) override |
| Sets the weights on a specific joint in the robot for IK solving. More... | |
| void | setJointWeights (const Eigen::VectorXd &weights) override |
| Sets the weights for all joints in the robot for IK solving. More... | |
| void | setLambda (double lambda) override |
| Sets lambda, damping constant in WDLS. More... | |
| Public Member Functions inherited from se2ez::IKSolver | |
| IKSolver (const IKSolver &)=delete | |
| IKSolver (IKSolver &&)=delete | |
| void | setRestarts (unsigned int restarts) |
| Sets the number of random restarts to use when solving a request. More... | |
Private Attributes | |
| const std::string | frame_ |
| Task frame. More... | |
Additional Inherited Members | |
| Public Types inherited from se2ez::IKSolver | |
| enum | Request { NONE = 0, X_AXIS = 1 << 0, Y_AXIS = 1 << 1, ROTATION = 1 << 2, POSITION = X_AXIS | Y_AXIS, ALL = POSITION | ROTATION } |
| A bitmask specification of what task components should this IK request satisfy. More... | |
| Protected Types inherited from se2ez::IKSolver | |
| enum | Index { POS_X = 0, POS_Y = 1, POS_Z = 2, ROT_X = 3, ROT_Y = 4, ROT_Z = 5 } |
| KDL specific indices for different components of the task matrix. More... | |
| Protected Member Functions inherited from se2ez::CollisionAwareTreeIK | |
| bool | doIK (KDL::JntArray &in, KDL::JntArray &out, const KDL::Frames &goals) override |
| Actually solve an IK query. More... | |
| Protected Member Functions inherited from se2ez::TreeIK | |
| bool | setTask (KDL::Frames &goals, const tf::EigenMap< std::string, Eigen::Isometry2d > &frames, const std::map< std::string, Request > &request) |
| Sets current task matrix and goals according to request. More... | |
| Protected Member Functions inherited from se2ez::IKSolver | |
| IKSolver (const RobotPtr &robot, unsigned int frames) | |
| Constructor. Protected so only derived classes can create this. More... | |
| void | setRequest (unsigned int task, Request request) |
| Sets the task matrix values for a task at index task according to a request. More... | |
| void | setTask (unsigned int task, Index index, bool active) |
| Sets the specific index component of a task to active. More... | |
| void | setRandom (KDL::JntArray &array) const |
| Sets a KDL array to random values between joint limits. More... | |
| Protected Attributes inherited from se2ez::TreeIK | |
| const std::map< std::string, unsigned int > | frames_ |
| Mapping of task frame name to index. More... | |
| const KDL::Tree | tree_ |
| KDL tree used for solving. More... | |
| KDL::TreeFkSolverPos_recursive | fk_ |
| Forward kinematics solver. More... | |
| KDL::TreeIkSolverVel_wdls | velIK_ |
| Inverse velocity solver. More... | |
| KDL::TreeIkSolverPos_NR_JL | posIK_ |
| Inverse position solver. More... | |
| std::mutex | mutex_ |
| Thread mutex. More... | |
| Protected Attributes inherited from se2ez::IKSolver | |
| const unsigned int | n_ |
| Number of joint variables. More... | |
| const unsigned int | t_ |
| Number of tasks. More... | |
| const RobotPtr | robot_ |
| Reference to robot. More... | |
| const KDL::JntArray | min_ |
| Joint minimums. More... | |
| const KDL::JntArray | max_ |
| Joint maximums. More... | |
| KDL::MatrixXd | weights_ |
| Joint variable weights. More... | |
| KDL::MatrixXd | tasks_ |
| Task weights. More... | |
| double | lambda_ {0.01} |
| Lambda, WDLS constant. More... | |
| unsigned int | restarts_ {10} |
| Number of random restarts. More... | |
Detailed Description
Convenience wrapper around CollisionAwareTreeIK for solving chains with a single tip frame.
Constructor & Destructor Documentation
◆ CollisionAwareChainIK() [1/3]
| CollisionAwareChainIK::CollisionAwareChainIK | ( | const RobotPtr & | robot, |
| const std::string & | frame, | ||
| unsigned int | iterations = 50, |
||
| double | eps = 1e-4 |
||
| ) |
◆ ~CollisionAwareChainIK()
|
virtual |
◆ CollisionAwareChainIK() [2/3]
|
delete |
◆ CollisionAwareChainIK() [3/3]
|
delete |
Member Function Documentation
◆ solve()
Member Data Documentation
◆ frame_
|
private |
The documentation for this class was generated from the following files:
