VirtualRobot::ConstrainedIK Class Reference

Inheritance diagram for VirtualRobot::ConstrainedIK:

Public Types
enum	SeedType { eSeedZero, eSeedInitial, eSeedOther }

Public Member Functions
	ConstrainedIK (RobotPtr &robot, const RobotNodeSetPtr &nodeSet, int maxIterations=1000, float stall_epsilon=0.0001, float raise_epsilon=0.8, bool reduceRobot=false)
void	addConstraint (const ConstraintPtr &constraint, int priority=0, bool hard_constraint=true)
void	removeConstraint (const ConstraintPtr &constraint)
std::vector< ConstraintPtr >	getConstraints ()
void	addSeed (SeedType type, const Eigen::VectorXf seed=Eigen::VectorXf())
void	clearSeeds ()
virtual bool	initialize ()
virtual bool	solveStep ()=0
virtual bool	solve (bool stepwise=false)
void	setMaxIterations (int maxIterations)
int	getMaxIterations ()
bool	getRunning ()
int	getCurrentIteration ()

Protected Member Functions
void	getUnitableNodes (const RobotNodePtr &robotNode, const RobotNodeSetPtr &nodeSet, std::vector< std::string > &unitable)
RobotPtr	buildReducedRobot (const RobotPtr &original)

Protected Attributes
std::vector< ConstraintPtr >	constraints
std::map< ConstraintPtr, int >	priorities
std::map< ConstraintPtr, bool >	hardConstraints
RobotPtr	originalRobot
RobotPtr	robot
RobotNodeSetPtr	nodeSet
Eigen::VectorXf	initialConfig
std::vector< std::pair< SeedType, Eigen::VectorXf > >	seeds
int	maxIterations
int	currentIteration
bool	running
float	stallEpsilon
float	raiseEpsilon

Member Enumeration Documentation

SeedType

enum VirtualRobot::ConstrainedIK::SeedType

Enumerator
eSeedZero
eSeedInitial
eSeedOther

Constructor & Destructor Documentation

ConstrainedIK()

ConstrainedIK::ConstrainedIK	(	RobotPtr &	robot,
		const RobotNodeSetPtr &	nodeSet,
		int	maxIterations = 1000,
		float	stall_epsilon = 0.0001,
		float	raise_epsilon = 0.8,
		bool	reduceRobot = false
	)

Member Function Documentation

addConstraint()

void ConstrainedIK::addConstraint	(	const ConstraintPtr &	constraint,
		int	priority = 0,
		bool	hard_constraint = true
	)

addSeed()

void ConstrainedIK::addSeed	(	ConstrainedIK::SeedType	type,
		const Eigen::VectorXf	seed = Eigen::VectorXf()
	)

buildReducedRobot()

RobotPtr ConstrainedIK::buildReducedRobot ( const RobotPtr &  original )

protected

clearSeeds()

void ConstrainedIK::clearSeeds

(

)

getConstraints()

std::vector< ConstraintPtr > ConstrainedIK::getConstraints

(

)

getCurrentIteration()

int ConstrainedIK::getCurrentIteration

(

)

getMaxIterations()

int ConstrainedIK::getMaxIterations

(

)

getRunning()

bool ConstrainedIK::getRunning

(

)

getUnitableNodes()

void ConstrainedIK::getUnitableNodes ( const RobotNodePtr &  robotNode, const RobotNodeSetPtr &  nodeSet, std::vector< std::string > &  unitable  )

protected

initialize()

bool ConstrainedIK::initialize ( )

virtual

Reimplemented in VirtualRobot::ConstrainedOptimizationIK, VirtualRobot::ConstrainedStackedIK, and VirtualRobot::ConstrainedHierarchicalIK.

removeConstraint()

void ConstrainedIK::removeConstraint

(

const ConstraintPtr &

constraint

)

setMaxIterations()

void ConstrainedIK::setMaxIterations

(

int

maxIterations

)

solve()

bool ConstrainedIK::solve ( bool  stepwise = false )

virtual

Reimplemented in VirtualRobot::ConstrainedOptimizationIK.

solveStep()

virtual bool VirtualRobot::ConstrainedIK::solveStep ( )

pure virtual

Implemented in VirtualRobot::ConstrainedOptimizationIK, VirtualRobot::ConstrainedStackedIK, and VirtualRobot::ConstrainedHierarchicalIK.

Field Documentation

constraints

std::vector<ConstraintPtr> VirtualRobot::ConstrainedIK::constraints

protected

currentIteration

int VirtualRobot::ConstrainedIK::currentIteration

protected

hardConstraints

std::map<ConstraintPtr, bool> VirtualRobot::ConstrainedIK::hardConstraints

protected

initialConfig

Eigen::VectorXf VirtualRobot::ConstrainedIK::initialConfig

protected

maxIterations

int VirtualRobot::ConstrainedIK::maxIterations

protected

nodeSet

RobotNodeSetPtr VirtualRobot::ConstrainedIK::nodeSet

protected

originalRobot

RobotPtr VirtualRobot::ConstrainedIK::originalRobot

protected

priorities

std::map<ConstraintPtr, int> VirtualRobot::ConstrainedIK::priorities

protected

raiseEpsilon

float VirtualRobot::ConstrainedIK::raiseEpsilon

protected

robot

RobotPtr VirtualRobot::ConstrainedIK::robot

protected

running

bool VirtualRobot::ConstrainedIK::running

protected

seeds

std::vector<std::pair<SeedType, Eigen::VectorXf> > VirtualRobot::ConstrainedIK::seeds

protected

stallEpsilon

float VirtualRobot::ConstrainedIK::stallEpsilon

protected