VirtualRobot::CoMIK Class Reference

Inheritance diagram for VirtualRobot::CoMIK:

Public Member Functions
	CoMIK (RobotNodeSetPtr rnsJoints, RobotNodeSetPtr rnsBodies, RobotNodePtr coordSystem=RobotNodePtr(), int dimensions=2)
void	setGoal (const Eigen::VectorXf &goal, float tolerance=5.0f)
Eigen::MatrixXf	getJacobianOfCoM (RobotNodePtr node)
Eigen::MatrixXf	getJacobianMatrix () override
Eigen::MatrixXf	getJacobianMatrix (SceneObjectPtr tcp) override
Eigen::VectorXf	getError (float stepSize=1.0f) override
Eigen::VectorXf	computeStep (float stepSize)
bool	computeSteps (float stepSize, float minumChange, int maxNStep)
void	convertModelScalingtoM (bool enable)
	convertModelScalingtoM If set to true, the Jacobian is computed in meters (instead MM) More...
bool	isValid (const Eigen::VectorXf &v) const
bool	checkTolerances () override
void	checkImprovements (bool enable)
bool	solveIK (float stepSize=0.2f, float minChange=0.0f, int maxSteps=50)
void	print () override
	print Print current status of the IK solver More...
Public Member Functions inherited from VirtualRobot::JacobiProvider
	JacobiProvider (RobotNodeSetPtr rns, InverseJacobiMethod invJacMethod=eSVD)
virtual	~JacobiProvider ()
virtual Eigen::MatrixXd	getJacobianMatrixD ()
virtual Eigen::MatrixXd	getJacobianMatrixD (SceneObjectPtr tcp)
virtual Eigen::MatrixXf	computePseudoInverseJacobianMatrix (const Eigen::MatrixXf &m, const Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual Eigen::MatrixXd	computePseudoInverseJacobianMatrixD (const Eigen::MatrixXd &m, const Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual Eigen::MatrixXf	computePseudoInverseJacobianMatrix (const Eigen::MatrixXf &m, float invParameter, const Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual Eigen::MatrixXd	computePseudoInverseJacobianMatrixD (const Eigen::MatrixXd &m, double invParameter, const Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual void	updatePseudoInverseJacobianMatrix (Eigen::MatrixXf &invJac, const Eigen::MatrixXf &m, float invParameter=0.0f, Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual void	updatePseudoInverseJacobianMatrixD (Eigen::MatrixXd &invJac, const Eigen::MatrixXd &m, double invParameter=0.0, Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (const Eigen::VectorXf regularization=Eigen::VectorXf())
virtual Eigen::MatrixXd	getPseudoInverseJacobianMatrixD (const Eigen::VectorXd regularization=Eigen::VectorXd())
virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (SceneObjectPtr tcp, const Eigen::VectorXf regularization=Eigen::VectorXf())
virtual Eigen::MatrixXd	getPseudoInverseJacobianMatrixD (SceneObjectPtr tcp, const Eigen::VectorXd regularization=Eigen::VectorXd())
virtual Eigen::VectorXf	getJacobiRegularization (IKSolver::CartesianSelection mode=IKSolver::All)
VirtualRobot::RobotNodeSetPtr	getRobotNodeSet ()
bool	isInitialized ()
void	setJointWeights (const Eigen::VectorXf &jointWeights)
float	getDampedSvdLambda () const
void	setDampedSvdLambda (float value)
float	getJacobiMMRegularization () const
void	setJacobiMMRegularization (float value)
float	getJacobiRadianRegularization () const
void	setJacobiRadianRegularization (float value)

Additional Inherited Members
Public Types inherited from VirtualRobot::JacobiProvider
enum	InverseJacobiMethod { eSVD, eSVDDamped, eSVDDampedDynamic, eTranspose }
	Several methods are offered for inverting the Jacobi (i.e. building the Pseudoinverse) More...
Protected Member Functions inherited from VirtualRobot::JacobiProvider
virtual void	updatePseudoInverseJacobianMatrixInternal (Eigen::MatrixXf &invJac, const Eigen::MatrixXf &m, float invParameter=0.0f) const
virtual void	updatePseudoInverseJacobianMatrixDInternal (Eigen::MatrixXd &invJac, const Eigen::MatrixXd &m, double invParameter=0.0) const
Protected Attributes inherited from VirtualRobot::JacobiProvider
std::string	name
RobotNodeSetPtr	rns
InverseJacobiMethod	inverseMethod
bool	initialized
Eigen::VectorXf	jointWeights
float	dampedSvdLambda
float	jacobiMMRegularization
float	jacobiRadianRegularization

Constructor & Destructor Documentation

CoMIK()

VirtualRobot::CoMIK::CoMIK	(	RobotNodeSetPtr	rnsJoints,
		RobotNodeSetPtr	rnsBodies,
		RobotNodePtr	coordSystem = RobotNodePtr(),
		int	dimensions = 2
	)

Initialize with a rns that contains joints and one that contains the bodies.

Member Function Documentation

checkImprovements()

void VirtualRobot::CoMIK::checkImprovements

(

bool

enable

)

checkTolerances()

bool VirtualRobot::CoMIK::checkTolerances ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

computeStep()

Eigen::VectorXf VirtualRobot::CoMIK::computeStep

(

float

stepSize

)

computeSteps()

bool VirtualRobot::CoMIK::computeSteps	(	float	stepSize,
		float	minumChange,
		int	maxNStep
	)

convertModelScalingtoM()

void VirtualRobot::CoMIK::convertModelScalingtoM

(

bool

enable

)

convertModelScalingtoM If set to true, the Jacobian is computed in meters (instead MM)

Parameters

enable

getError()

Eigen::VectorXf VirtualRobot::CoMIK::getError ( float  stepSize = 1.0f )

overridevirtual

The error vector. the value depends on the implementation.

Implements VirtualRobot::JacobiProvider.

getJacobianMatrix() [1/2]

Eigen::MatrixXf VirtualRobot::CoMIK::getJacobianMatrix ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getJacobianMatrix() [2/2]

Eigen::MatrixXf VirtualRobot::CoMIK::getJacobianMatrix ( SceneObjectPtr  tcp )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getJacobianOfCoM()

Eigen::MatrixXf VirtualRobot::CoMIK::getJacobianOfCoM

(

RobotNodePtr

node

)

isValid()

bool VirtualRobot::CoMIK::isValid

(

const Eigen::VectorXf &

v

)

const

print()

void VirtualRobot::CoMIK::print ( )

overridevirtual

print Print current status of the IK solver

Reimplemented from VirtualRobot::JacobiProvider.

setGoal()

void VirtualRobot::CoMIK::setGoal	(	const Eigen::VectorXf &	goal,
		float	tolerance = 5.0f
	)

solveIK()

bool VirtualRobot::CoMIK::solveIK	(	float	stepSize = 0.2f,
		float	minChange = 0.0f,
		int	maxSteps = 50
	)