Inheritance diagram for VirtualRobot::AdvancedIKSolver:

Public Member Functions
	AdvancedIKSolver (RobotNodeSetPtr rns)
	Initialize a IK solver without collision detection. More...

virtual void	collisionDetection (SceneObjectPtr avoidCollisionsWith)

virtual void	collisionDetection (ObstaclePtr avoidCollisionsWith)

virtual void	collisionDetection (SceneObjectSetPtr avoidCollisionsWith)

virtual void	collisionDetection (CDManagerPtr avoidCollision)

virtual void	setMaximumError (float maxErrorPositionMM=1.0f, float maxErrorOrientationRad=0.02)

virtual void	setReachabilityCheck (ReachabilityPtr reachabilitySpace)

virtual bool	solve (const Eigen::Matrix4f &globalPose, CartesianSelection selection=All, int maxLoops=1)=0

virtual std::vector< float >	solveNoRNSUpdate (const Eigen::Matrix4f &globalPose, CartesianSelection selection=All)

virtual bool	solve (const Eigen::Vector3f &globalPosition)

virtual GraspPtr	solve (ManipulationObjectPtr object, CartesianSelection selection=All, int maxLoops=1)

virtual bool	solve (ManipulationObjectPtr object, GraspPtr grasp, CartesianSelection selection=All, int maxLoops=1)

virtual GraspPtr	sampleSolution (ManipulationObjectPtr object, GraspSetPtr graspSet, CartesianSelection selection=All, bool removeGraspFromSet=false, int maxLoops=1)

virtual bool	checkReachable (const Eigen::Matrix4f &globalPose)

RobotNodeSetPtr	getRobotNodeSet ()

RobotNodePtr	getTcp ()

void	setVerbose (bool enable)

Public Member Functions inherited from VirtualRobot::IKSolver
	IKSolver ()

Protected Member Functions
virtual bool	_sampleSolution (const Eigen::Matrix4f &globalPose, CartesianSelection selection, int maxLoops=1)
	This method should deliver solution sample out of the set of possible solutions. More...

Protected Attributes
RobotNodeSetPtr	rns

RobotNodePtr	tcp

CDManagerPtr	cdm

float	maxErrorPositionMM

float	maxErrorOrientationRad

ReachabilityPtr	reachabilitySpace

bool	verbose

Additional Inherited Members
Public Types inherited from VirtualRobot::IKSolver
enum	CartesianSelection { X = 1, Y = 2, Z = 4, Position = 7, Orientation = 8, All = 15 }
	Flags for the selection of the target components. More...

Detailed Description

An advanced IK solver: Can reject configurations that are in collision. Can consider reachability information. Can handle ManipulationObjects and associated grasping information.

Constructor & Destructor Documentation

◆ AdvancedIKSolver()

VirtualRobot::AdvancedIKSolver::AdvancedIKSolver ( RobotNodeSetPtr rns )

Initialize a IK solver without collision detection.

Parameters

rns	The robotNodes (i.e., joints) for which the Jacobians should be calculated.

Member Function Documentation

◆ _sampleSolution()

virtual bool VirtualRobot::AdvancedIKSolver::_sampleSolution	(	const Eigen::Matrix4f &	globalPose,
		CartesianSelection	selection,
		int	maxLoops = `1`
	)

inlineprotectedvirtual

This method should deliver solution sample out of the set of possible solutions.

Reimplemented in VirtualRobot::GenericIKSolver.

◆ checkReachable()

bool VirtualRobot::AdvancedIKSolver::checkReachable ( const Eigen::Matrix4f & globalPose )

virtual

This method returns true, when no reachability data is specified for this IK solver. If there is an reachability space defined, it is queried weather the pose is within the reachability or not and the result is returned.

◆ collisionDetection() [1/4]

void VirtualRobot::AdvancedIKSolver::collisionDetection ( SceneObjectPtr avoidCollisionsWith )

virtual

Setup collision detection

Parameters

avoidCollisionsWith The IK solver will consider collision checks between rns and avoidCollisionsWith

◆ collisionDetection() [2/4]

void VirtualRobot::AdvancedIKSolver::collisionDetection ( ObstaclePtr avoidCollisionsWith )

virtual

Setup collision detection

Parameters

avoidCollisionsWith The IK solver will consider collision checks between rns and avoidCollisionsWith

◆ collisionDetection() [3/4]

void VirtualRobot::AdvancedIKSolver::collisionDetection ( SceneObjectSetPtr avoidCollisionsWith )

virtual

Setup collision detection

Parameters

avoidCollisionsWith The IK solver will consider collision checks between rns and avoidCollisionsWith

◆ collisionDetection() [4/4]

void VirtualRobot::AdvancedIKSolver::collisionDetection ( CDManagerPtr avoidCollision )

virtual

Setup collision detection

Parameters

avoidCollision The IK solver will consider collision checks, defined in this CDManager instance.

◆ getRobotNodeSet()

VirtualRobot::RobotNodeSetPtr VirtualRobot::AdvancedIKSolver::getRobotNodeSet ( )

◆ getTcp()

VirtualRobot::RobotNodePtr VirtualRobot::AdvancedIKSolver::getTcp ( )

◆ sampleSolution()

GraspPtr VirtualRobot::AdvancedIKSolver::sampleSolution	(	ManipulationObjectPtr	object,
		GraspSetPtr	graspSet,
		CartesianSelection	selection = `All`,
		bool	removeGraspFromSet = `false`,
		int	maxLoops = `1`
	)

virtual

Try to find a solution for grasping the object with the given GraspSet.

Returns: On success: The grasp for which an IK-solution was found, otherwise an empty GraspPtr

◆ setMaximumError()

void VirtualRobot::AdvancedIKSolver::setMaximumError	(	float	maxErrorPositionMM = `1.0f`,
		float	maxErrorOrientationRad = `0.02`
	)

virtual

Here, the default values of the maximum allowed error in translation and orientation can be changed.

Parameters

maxErrorPositionMM	The maximum position error that is allowed, given in millimeter.
maxErrorOrientationRad	The maximum orientation error that is allowed, given in radian (0.02 is approx 1 degree).

◆ setReachabilityCheck()

void VirtualRobot::AdvancedIKSolver::setReachabilityCheck ( ReachabilityPtr reachabilitySpace )

virtual

When set, the reachability data is used to quickly decide if a given pose or grasp is reachable or not. This option can be enabled by setting the reachability space and it can be disabled by setting an empty ReachabilityPtr.

◆ setVerbose()

void VirtualRobot::AdvancedIKSolver::setVerbose ( bool enable )

◆ solve() [1/4]

virtual bool VirtualRobot::AdvancedIKSolver::solve	(	const Eigen::Matrix4f &	globalPose,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

pure virtual

This method solves the IK up to the specified max error. On success, the joints of the the corresponding RobotNodeSet are set to the IK solution.

Parameters

globalPose	The target pose given in global coordinate system.
selection	Select the parts of the global pose that should be used for IK solving. (e.g. you can just consider the position and ignore the target orientation)
maxLoops	An optional parameter, if multiple tries should be made

Returns: true on success

Implemented in VirtualRobot::GenericIKSolver.

◆ solve() [2/4]

bool VirtualRobot::AdvancedIKSolver::solve ( const Eigen::Vector3f & globalPosition )

virtual

Convenient method to solve IK queries without considering orientations.

◆ solve() [3/4]

GraspPtr VirtualRobot::AdvancedIKSolver::solve	(	ManipulationObjectPtr	object,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

virtual

This method solves the IK up to the specified max error. On success, the joints of the the corresponding RobotNodeSet are set to the IK solution.

Parameters

object	The object.
selection	Select the parts of the global pose that should be used for IK solving. (e.g. you can just consider the position and ignore the target orientation)
maxLoops	How many tries.

Returns: On success: The grasp for which an IK-solution was found, otherwise an empty GraspPtr

Reimplemented in VirtualRobot::GenericIKSolver.

◆ solve() [4/4]

bool VirtualRobot::AdvancedIKSolver::solve	(	ManipulationObjectPtr	object,
		GraspPtr	grasp,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

virtual

Reimplemented in VirtualRobot::GenericIKSolver.

◆ solveNoRNSUpdate()

std::vector< float > VirtualRobot::AdvancedIKSolver::solveNoRNSUpdate	(	const Eigen::Matrix4f &	globalPose,
		CartesianSelection	selection = `All`
	)

virtual

This method solves the IK up to the specified max error. The joints of the robot node set are not updated.

Parameters

globalPose	The target pose given in global coordinate system.
selection	Select the parts of the global pose that should be used for IK solving. (e.g. you can just consider the position and ignore the target orientation)

Returns: The joint angles are returned as std::vector

Field Documentation

◆ cdm

CDManagerPtr VirtualRobot::AdvancedIKSolver::cdm

protected

◆ maxErrorOrientationRad

float VirtualRobot::AdvancedIKSolver::maxErrorOrientationRad

protected

◆ maxErrorPositionMM

float VirtualRobot::AdvancedIKSolver::maxErrorPositionMM

protected

◆ reachabilitySpace

ReachabilityPtr VirtualRobot::AdvancedIKSolver::reachabilitySpace

protected

◆ rns

RobotNodeSetPtr VirtualRobot::AdvancedIKSolver::rns

protected

◆ tcp

RobotNodePtr VirtualRobot::AdvancedIKSolver::tcp

protected

◆ verbose

bool VirtualRobot::AdvancedIKSolver::verbose

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AdvancedIKSolver()

Member Function Documentation

◆ _sampleSolution()

◆ checkReachable()

◆ collisionDetection() [1/4]

◆ collisionDetection() [2/4]

◆ collisionDetection() [3/4]

◆ collisionDetection() [4/4]

◆ getRobotNodeSet()

◆ getTcp()

◆ sampleSolution()

◆ setMaximumError()

◆ setReachabilityCheck()

◆ setVerbose()

◆ solve() [1/4]

◆ solve() [2/4]

◆ solve() [3/4]

◆ solve() [4/4]

◆ solveNoRNSUpdate()

Field Documentation

◆ cdm

◆ maxErrorOrientationRad

◆ maxErrorPositionMM

◆ reachabilitySpace

◆ rns

◆ tcp

◆ verbose