Common components of IK solvers. More...

#include <ik.h>

Inheritance diagram for se2ez::IKSolver:

Public Types
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...

Public Member Functions
	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...

virtual void	setJointWeight (const std::string &frame, const Eigen::VectorXd &weights)
	Sets the weights on a specific joint in the robot for IK solving. More...

virtual void	setJointWeights (const Eigen::VectorXd &weights)
	Sets the weights for all joints in the robot for IK solving. More...

virtual void	setLambda (double lambda)
	Sets lambda, damping constant in WDLS. More...

Protected Types
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
	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
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

Common components of IK solvers.

Definition at line 36 of file ik.h.

Member Enumeration Documentation

◆ Index

enum se2ez::IKSolver::Index

protected

KDL specific indices for different components of the task matrix.

Enumerator
POS_X	X Position.
POS_Y	Y Position.
POS_Z	Z Position, Ignored as we are 2D.
ROT_X	X Rotation, Ignored as we are 2D.
ROT_Y	Y Rotation, Ignored as we are 2D.
ROT_Z	Z Rotation.

Definition at line 79 of file ik.h.

◆ Request

enum se2ez::IKSolver::Request

A bitmask specification of what task components should this IK request satisfy.

Enumerator
NONE	No components.
X_AXIS	X component.
Y_AXIS	Y component.
ROTATION	Rotation component.
POSITION	X- and Y-axis components.
ALL	All components.

Definition at line 41 of file ik.h.

Constructor & Destructor Documentation

◆ IKSolver() [1/3]

se2ez::IKSolver::IKSolver ( const IKSolver & )

delete

◆ IKSolver() [2/3]

se2ez::IKSolver::IKSolver ( IKSolver && )

delete

◆ IKSolver() [3/3]

IKSolver::IKSolver	(	const RobotPtr &	robot,
		unsigned int	frames
	)

protected

Constructor. Protected so only derived classes can create this.

IKSolver

Definition at line 18 of file ik.cpp.

Member Function Documentation

◆ setJointWeight()

void IKSolver::setJointWeight	(	const std::string &	frame,
		const Eigen::VectorXd &	weights
	)

virtual

Sets the weights on a specific joint in the robot for IK solving.

Parameters

[in]	frame	Frame to set weights for.
[in]	weights	Weights to use for frame.

Reimplemented in se2ez::TreeIK.

Definition at line 41 of file ik.cpp.

◆ setJointWeights()

void IKSolver::setJointWeights ( const Eigen::VectorXd & weights )

virtual

Sets the weights for all joints in the robot for IK solving.

Parameters

[in] weights Weights to use.

Reimplemented in se2ez::TreeIK.

Definition at line 56 of file ik.cpp.

◆ setLambda()

void IKSolver::setLambda ( double lambda )

virtual

Sets lambda, damping constant in WDLS.

Parameters

[in] lambda Lambda to use.

Reimplemented in se2ez::TreeIK.

Definition at line 69 of file ik.cpp.

◆ setRandom()

void IKSolver::setRandom ( KDL::JntArray & array ) const

protected

Sets a KDL array to random values between joint limits.

Parameters

[out] array Array to randomly set.

Definition at line 80 of file ik.cpp.

◆ setRequest()

void IKSolver::setRequest	(	unsigned int	task,
		Request	request
	)

protected

Sets the task matrix values for a task at index task according to a request.

Parameters

[in]	task	Index of task to set.
[in]	request	Request to set.

Definition at line 90 of file ik.cpp.

◆ setRestarts()

void IKSolver::setRestarts ( unsigned int restarts )

Sets the number of random restarts to use when solving a request.

Parameters

[in] restarts The number of random restarts to use.

< Add one since we do at least one iteration without random restart.

Definition at line 36 of file ik.cpp.

◆ setTask()

void IKSolver::setTask	(	unsigned int	task,
		Index	index,
		bool	active
	)

protected

Sets the specific index component of a task to active.

Parameters

[in]	task	Index of task to set.
[in]	index	Index of component to set.
[in]	active	Value to set component to.

Definition at line 98 of file ik.cpp.

Member Data Documentation

◆ lambda_

double se2ez::IKSolver::lambda_ {0.01}

protected

Lambda, WDLS constant.

Definition at line 120 of file ik.h.

◆ max_

const KDL::JntArray se2ez::IKSolver::max_

protected

Joint maximums.

Definition at line 116 of file ik.h.

◆ min_

const KDL::JntArray se2ez::IKSolver::min_

protected

Joint minimums.

Definition at line 115 of file ik.h.

◆ n_

const unsigned int se2ez::IKSolver::n_

protected

Number of joint variables.

Definition at line 111 of file ik.h.

◆ restarts_

unsigned int se2ez::IKSolver::restarts_ {10}

protected

Number of random restarts.

Definition at line 122 of file ik.h.

◆ robot_

const RobotPtr se2ez::IKSolver::robot_

protected

Reference to robot.

Definition at line 113 of file ik.h.

◆ t_

const unsigned int se2ez::IKSolver::t_

protected

Number of tasks.

Definition at line 112 of file ik.h.

◆ tasks_

KDL::MatrixXd se2ez::IKSolver::tasks_

protected

Task weights.

Definition at line 119 of file ik.h.

◆ weights_

KDL::MatrixXd se2ez::IKSolver::weights_

protected

Joint variable weights.

Definition at line 118 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 Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Index

◆ Request

Constructor & Destructor Documentation

◆ IKSolver() [1/3]

◆ IKSolver() [2/3]

◆ IKSolver() [3/3]

Member Function Documentation

◆ setJointWeight()

◆ setJointWeights()

◆ setLambda()

◆ setRandom()

◆ setRequest()

◆ setRestarts()

◆ setTask()

Member Data Documentation

◆ lambda_

◆ max_

◆ min_

◆ n_

◆ restarts_

◆ robot_

◆ t_

◆ tasks_

◆ weights_