A collision aware version of tree IK. More...

#include <ik.h>

Inheritance diagram for se2ez::CollisionAwareTreeIK:

Public Member Functions
	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...

Protected Member Functions
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...

Private Attributes
CollisionManagerPtr	cm_
	Collision Manager for IK. More...

StatePtr	state_
	Work state. 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 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

A collision aware version of tree IK.

Definition at line 260 of file ik.h.

Constructor & Destructor Documentation

◆ CollisionAwareTreeIK() [1/3]

CollisionAwareTreeIK::CollisionAwareTreeIK	(	const RobotPtr &	robot,
		const std::vector< std::string > &	frames,
		unsigned int	iterations = `50`,
		double	eps = `1e-4`
	)

Constructor.

Parameters

[in]	robot	Robot to construct IK solver for.
[in]	frames	Frames to use as task frames.
[in]	iterations	Maximum number of iterations to use in solver.
[in]	eps	Solution tolerance.

CollisionAwareTreeIK

Definition at line 247 of file ik.cpp.

◆ CollisionAwareTreeIK() [2/3]

se2ez::CollisionAwareTreeIK::CollisionAwareTreeIK ( const CollisionAwareTreeIK & )

delete

◆ CollisionAwareTreeIK() [3/3]

se2ez::CollisionAwareTreeIK::CollisionAwareTreeIK ( CollisionAwareTreeIK && )

delete

Member Function Documentation

◆ doIK()

bool CollisionAwareTreeIK::doIK	(	KDL::JntArray &	in,
		KDL::JntArray &	out,
		const KDL::Frames &	goals
	)

overrideprotectedvirtual

Actually solve an IK query.

Parameters

[in]	in	Initial seed joint angles.
[out]	out	Output joint angles.
[in]	goals	Goals to satisfy.

Returns: True on success false on failure.

Reimplemented from se2ez::TreeIK.

Definition at line 255 of file ik.cpp.

Member Data Documentation

◆ cm_

CollisionManagerPtr se2ez::CollisionAwareTreeIK::cm_

private

Collision Manager for IK.

Definition at line 280 of file ik.h.

◆ state_

StatePtr se2ez::CollisionAwareTreeIK::state_

private

Work state.

Definition at line 281 of file ik.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/ik.h
/home/zak/code/se2ez_work/src/core/ik.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members