VirtualRobot::ConstrainedOptimizationIK Class Reference

Inheritance diagram for VirtualRobot::ConstrainedOptimizationIK:

Data Structures
struct	AdditionalOutputData

Public Member Functions
	ConstrainedOptimizationIK (RobotPtr &robot, const RobotNodeSetPtr &nodeSet, float timeout=0.5, float globalTolerance=std::numeric_limits< float >::quiet_NaN())
bool	initialize () override
bool	solve (bool stepwise=false) override
bool	solveStep () override
void	setRandomSamplingDisplacementFactor (float displacementFactor)
Public Member Functions inherited from VirtualRobot::ConstrainedIK
	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 ()
void	setMaxIterations (int maxIterations)
int	getMaxIterations ()
bool	getRunning ()
int	getCurrentIteration ()

Protected Member Functions
double	optimizationFunction (const std::vector< double > &x, std::vector< double > &gradient)
double	optimizationConstraint (const std::vector< double > &x, std::vector< double > &gradient, const OptimizationFunctionSetup &setup)
bool	hardOptimizationFunction (const std::vector< double > &x, double &error, AdditionalOutputData &data)
Protected Member Functions inherited from VirtualRobot::ConstrainedIK
void	getUnitableNodes (const RobotNodePtr &robotNode, const RobotNodeSetPtr &nodeSet, std::vector< std::string > &unitable)
RobotPtr	buildReducedRobot (const RobotPtr &original)

Static Protected Member Functions
static double	optimizationFunctionWrapper (const std::vector< double > &x, std::vector< double > &gradient, void *data)
static double	optimizationConstraintWrapper (const std::vector< double > &x, std::vector< double > &gradient, void *data)

Protected Attributes
RobotNodeSetPtr	nodeSet
OptimizerPtr	optimizer
float	timeout
float	globalTolerance
std::vector< double >	currentX
unsigned int	numIterations
float	randomSamplingDisplacementFactor
float	functionValueTolerance
float	optimizationValueTolerance
Protected Attributes inherited from VirtualRobot::ConstrainedIK
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

Additional Inherited Members
Public Types inherited from VirtualRobot::ConstrainedIK
enum	SeedType { eSeedZero, eSeedInitial, eSeedOther }

Constructor & Destructor Documentation

ConstrainedOptimizationIK()

ConstrainedOptimizationIK::ConstrainedOptimizationIK	(	RobotPtr &	robot,
		const RobotNodeSetPtr &	nodeSet,
		float	timeout = 0.5,
		float	globalTolerance = std::numeric_limits<float>::quiet_NaN()
	)

Member Function Documentation

hardOptimizationFunction()

bool ConstrainedOptimizationIK::hardOptimizationFunction ( const std::vector< double > &  x, double &  error, AdditionalOutputData &  data  )

protected

initialize()

bool ConstrainedOptimizationIK::initialize ( )

overridevirtual

Reimplemented from VirtualRobot::ConstrainedIK.

optimizationConstraint()

double ConstrainedOptimizationIK::optimizationConstraint ( const std::vector< double > &  x, std::vector< double > &  gradient, const OptimizationFunctionSetup &  setup  )

protected

optimizationConstraintWrapper()

double ConstrainedOptimizationIK::optimizationConstraintWrapper ( const std::vector< double > &  x, std::vector< double > &  gradient, void *  data  )

staticprotected

optimizationFunction()

double ConstrainedOptimizationIK::optimizationFunction ( const std::vector< double > &  x, std::vector< double > &  gradient  )

protected

optimizationFunctionWrapper()

double ConstrainedOptimizationIK::optimizationFunctionWrapper ( const std::vector< double > &  x, std::vector< double > &  gradient, void *  data  )

staticprotected

setRandomSamplingDisplacementFactor()

void ConstrainedOptimizationIK::setRandomSamplingDisplacementFactor

(

float

displacementFactor

)

This factor limits the interval around the initial robot configuration where random samplings are placed. A value of 1 (the default) means that samplings can in the whole joint limit interval.

solve()

bool ConstrainedOptimizationIK::solve ( bool  stepwise = false )

overridevirtual

Reimplemented from VirtualRobot::ConstrainedIK.

solveStep()

bool ConstrainedOptimizationIK::solveStep ( )

overridevirtual

Implements VirtualRobot::ConstrainedIK.

Field Documentation

currentX

std::vector<double> VirtualRobot::ConstrainedOptimizationIK::currentX

protected

functionValueTolerance

float VirtualRobot::ConstrainedOptimizationIK::functionValueTolerance

protected

globalTolerance

float VirtualRobot::ConstrainedOptimizationIK::globalTolerance

protected

nodeSet

RobotNodeSetPtr VirtualRobot::ConstrainedOptimizationIK::nodeSet

protected

numIterations

unsigned int VirtualRobot::ConstrainedOptimizationIK::numIterations

protected

optimizationValueTolerance

float VirtualRobot::ConstrainedOptimizationIK::optimizationValueTolerance

protected

optimizer

OptimizerPtr VirtualRobot::ConstrainedOptimizationIK::optimizer

protected

randomSamplingDisplacementFactor

float VirtualRobot::ConstrainedOptimizationIK::randomSamplingDisplacementFactor

protected

timeout

float VirtualRobot::ConstrainedOptimizationIK::timeout

protected