VirtualRobot::HierarchicalIK Class Reference

Inheritance diagram for VirtualRobot::HierarchicalIK:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	HierarchicalIK (RobotNodeSetPtr rns, JacobiProvider::InverseJacobiMethod method=JacobiProvider::eSVD)
virtual	~HierarchicalIK ()
Eigen::VectorXf	computeStep (const std::vector< JacobiProviderPtr > &jacDefs, float stepSize=0.2f)
void	setVerbose (bool v)

Protected Attributes
RobotNodeSetPtr	rns
bool	verbose
JacobiProvider::InverseJacobiMethod	method

Detailed Description

With hierarchical IK methods several tasks/constraints can be considered for IK solving. Internally a hierarchical gradient descent is generated where the Nullspace of the preceding task definition is used for the computation of the joint delta in the current task.

This implementation is based on the following publication: "A general framework for managing multiple tasks in highly redundant robotic systems.", Siciliano, B. ; Slotine, J.-J.E., Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Constructor & Destructor Documentation

HierarchicalIK()

VirtualRobot::HierarchicalIK::HierarchicalIK	(	VirtualRobot::RobotNodeSetPtr	rns,
		JacobiProvider::InverseJacobiMethod	method = JacobiProvider::eSVD
	)

~HierarchicalIK()

VirtualRobot::HierarchicalIK::~HierarchicalIK ( )

virtualdefault

Member Function Documentation

computeStep()

Eigen::VectorXf VirtualRobot::HierarchicalIK::computeStep	(	const std::vector< JacobiProviderPtr > &	jacDefs,
		float	stepSize = 0.2f
	)

computes hierarchical Jacobi step

Parameters

jacDefs	All Jacobians an the corresponding error vectors that should be considered for computing a gradient step. The jacProviders specify the Jacobian and InverseJacobian functions. Jacobians must cover the same RobotNodeSet (i.e., the same number of DoF). The deltas specify the error for each Jacobian (e.g. in workspace). deltas[i].rows() must be equal to jacobies[i].rows().
stepSize	The deltas can be reduced in order to avoid oscillating behavior.

setVerbose()

void VirtualRobot::HierarchicalIK::setVerbose

(

bool

v

)

Field Documentation

method

JacobiProvider::InverseJacobiMethod VirtualRobot::HierarchicalIK::method

protected

rns

RobotNodeSetPtr VirtualRobot::HierarchicalIK::rns

protected

verbose

bool VirtualRobot::HierarchicalIK::verbose

protected