#include <ik.h>

Inheritance diagram for se2ez::TreeIK:

Public Member Functions
	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	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...

virtual bool	doIK (KDL::JntArray &in, KDL::JntArray &out, const KDL::Frames &goals)
	Actually solve an IK query. 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
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...

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...

Detailed Description

Definition at line 135 of file ik.h.

Constructor & Destructor Documentation

◆ TreeIK() [1/3]

TreeIK::TreeIK	(	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.

TreeIK

Definition at line 108 of file ik.cpp.

◆ TreeIK() [2/3]

se2ez::TreeIK::TreeIK ( const TreeIK & )

delete

◆ TreeIK() [3/3]

se2ez::TreeIK::TreeIK ( TreeIK && )

delete

Member Function Documentation

◆ doIK()

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

protectedvirtual

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 in se2ez::CollisionAwareTreeIK.

Definition at line 162 of file ik.cpp.

◆ setJointWeight()

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

overridevirtual

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 from se2ez::IKSolver.

Definition at line 207 of file ik.cpp.

◆ setJointWeights()

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

overridevirtual

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

Parameters

[in] weights Weights to use.

Reimplemented from se2ez::IKSolver.

Definition at line 213 of file ik.cpp.

◆ setLambda()

void TreeIK::setLambda ( double lambda )

overridevirtual

Sets lambda, damping constant in WDLS.

Parameters

[in] lambda Lambda to use.

Reimplemented from se2ez::IKSolver.

Definition at line 219 of file ik.cpp.

◆ setTask()

bool TreeIK::setTask	(	KDL::Frames &	goals,
		const tf::EigenMap< std::string, Eigen::Isometry2d > &	frames,
		const std::map< std::string, Request > &	request
	)

protected

Sets current task matrix and goals according to request.

Parameters

[out]	goals	Goals for IK to set.
[in]	frames	Desired position of task frames.
[in]	request	Request to satisfy.

Returns: True if possible, false on error.

Definition at line 127 of file ik.cpp.

◆ solve()

bool TreeIK::solve	(	StatePtr	state,
		const tf::EigenMap< std::string, Eigen::Isometry2d > &	frames,
		const std::map< std::string, Request > &	request = `{}`
	)

Solve an IK request.

Parameters

[in,out]	state	State to set to result of IK query. Input value is used as first seed.
[in]	frames	Map of frame name to desired values for query.
[in]	request	Map of frame names to requested components. Uses ALL by default.

Returns: True on success, false on failure.

Definition at line 183 of file ik.cpp.

Member Data Documentation

◆ fk_

KDL::TreeFkSolverPos_recursive se2ez::TreeIK::fk_

protected

Forward kinematics solver.

Definition at line 197 of file ik.h.

◆ frames_

const std::map<std::string, unsigned int> se2ez::TreeIK::frames_

protected

Mapping of task frame name to index.

Definition at line 194 of file ik.h.

◆ mutex_

std::mutex se2ez::TreeIK::mutex_

protected

Thread mutex.

Definition at line 201 of file ik.h.

◆ posIK_

KDL::TreeIkSolverPos_NR_JL se2ez::TreeIK::posIK_

protected

Inverse position solver.

Definition at line 199 of file ik.h.

◆ tree_

const KDL::Tree se2ez::TreeIK::tree_

protected

KDL tree used for solving.

Definition at line 196 of file ik.h.

◆ velIK_

KDL::TreeIkSolverVel_wdls se2ez::TreeIK::velIK_

protected

Inverse velocity solver.

Definition at line 198 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

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TreeIK() [1/3]

◆ TreeIK() [2/3]

◆ TreeIK() [3/3]

Member Function Documentation

◆ doIK()

◆ setJointWeight()

◆ setJointWeights()

◆ setLambda()

◆ setTask()

◆ solve()

Member Data Documentation

◆ fk_

◆ frames_

◆ mutex_

◆ posIK_

◆ tree_

◆ velIK_