Encapsulates a differential inverse kinematics for the virtual robot. More...

Inheritance diagram for VirtualRobot::DifferentialIK:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DifferentialIK (RobotNodeSetPtr rns, RobotNodePtr coordSystem=RobotNodePtr(), JacobiProvider::InverseJacobiMethod invJacMethod=eSVD, float invParam=0.0f)
	Initialize a Jacobian object. More...

virtual void	setGoal (const Eigen::Matrix4f &goal, SceneObjectPtr tcp=SceneObjectPtr(), IKSolver::CartesianSelection mode=IKSolver::All, float tolerancePosition=5.0f, float toleranceRotation=3.0f/180.0f *M_PI, bool performInitialization=true)
	Sets the target position for (one of) the tcp(s). More...

virtual void	setGoal (const Eigen::Vector3f &goal, SceneObjectPtr tcp=SceneObjectPtr(), IKSolver::CartesianSelection mode=IKSolver::Position, float tolerancePosition=5.0f, float toleranceRotation=3.0f/180.0f *M_PI, bool performInitialization=true)
	Sets the target position for (one of) the tcp(s). More...

virtual Eigen::MatrixXf	getJacobianMatrix (SceneObjectPtr tcp, IKSolver::CartesianSelection mode)
	Returns the Jacobian matrix for a given tcp. More...

Eigen::MatrixXf	getJacobianMatrix (SceneObjectPtr tcp) override

virtual Eigen::MatrixXf	getJacobianMatrix (IKSolver::CartesianSelection mode)

Eigen::MatrixXf	getJacobianMatrix () override

Eigen::VectorXf	getError (float stepSize=1.0f) override

void	updateError (Eigen::VectorXf &error, float stepSize=1.0f)

virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (SceneObjectPtr tcp, IKSolver::CartesianSelection mode=IKSolver::All)
	Returns the pseudo inverse of the Jacobian matrix for a given tcp of the robot. More...

virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix ()

virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (IKSolver::CartesianSelection mode)

void	updateJacobianMatrix (Eigen::MatrixXf &jac)

void	updateJacobianMatrix (Eigen::MatrixXf &jac, SceneObjectPtr tcp, IKSolver::CartesianSelection mode)

virtual Eigen::VectorXf	computeStep (float stepSize=1.0f)
	Compute a single IK step. More...

virtual bool	computeSteps (float stepSize, float minChange, int maxSteps)
	Computes the complete inverse kinematics. More...

virtual bool	solveIK (float stepSize=0.2f, float minChange=0.0f, int maxSteps=50)
	Computes the complete inverse kinematics. More...

virtual RobotNodePtr	getDefaultTCP ()
	Returns the default tcp of the robot. More...

virtual float	getErrorPosition (SceneObjectPtr tcp=SceneObjectPtr())
	Returns the translation error for a given tcp (i.e., the distance to the target). More...

virtual float	getErrorRotation (SceneObjectPtr tcp=SceneObjectPtr())
	Returns the error metric for a given tcp (i.e., the angle between the target pose). More...

virtual void	checkImprovements (bool enable)

void	convertModelScalingtoM (bool enable)

void	setVerbose (bool enable)

virtual float	getMeanErrorPosition ()

virtual void	updateDeltaToGoal (Eigen::VectorXf &delta, SceneObjectPtr tcp=SceneObjectPtr())

virtual void	updateDelta (Eigen::VectorXf &delta, const Eigen::Matrix4f &current, const Eigen::Matrix4f &goal, IKSolver::CartesianSelection mode=IKSolver::All)

virtual Eigen::VectorXf	getDeltaToGoal (SceneObjectPtr tcp=SceneObjectPtr())

virtual Eigen::VectorXf	getDelta (const Eigen::Matrix4f &current, const Eigen::Matrix4f &goal, IKSolver::CartesianSelection mode=IKSolver::All)

virtual void	setMaxPositionStep (float s)
	When considering large errors, the translational part can be cut to this length. Set to <= 0 to ignore cutting (standard) More...

bool	checkTolerances () override

virtual void	initialize ()

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)

Protected Member Functions
virtual void	setNRows ()

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
float	invParam

std::vector< SceneObjectPtr >	tcp_set

RobotNodePtr	coordSystem

bool	checkImprovement
	Indicates if the jacobian steps must improve the result, otherwise the loop is canceld. More...

std::size_t	nRows

std::size_t	nDoF

std::map< SceneObjectPtr, Eigen::Matrix4f, std::less< SceneObjectPtr >, Eigen::aligned_allocator< std::pair< const SceneObjectPtr, Eigen::Matrix4f > > >	targets

std::map< SceneObjectPtr, Eigen::MatrixXf, std::less< SceneObjectPtr >, Eigen::aligned_allocator< std::pair< const SceneObjectPtr, Eigen::MatrixXf > > >	partJacobians

std::map< SceneObjectPtr, IKSolver::CartesianSelection >	modes

std::map< SceneObjectPtr, float >	tolerancePosition

std::map< SceneObjectPtr, float >	toleranceRotation

bool	convertMMtoM

std::vector< RobotNodePtr >	nodes

std::map< RobotNodePtr, std::vector< RobotNodePtr > >	parents

Eigen::VectorXf	currentError

Eigen::MatrixXf	currentJacobian

Eigen::MatrixXf	currentInvJacobian

Eigen::Matrix4f	tmpDeltaOrientation

Eigen::AngleAxis< float >	tmpDeltaAA

Eigen::VectorXf	tmpUpdateErrorDelta

Eigen::Vector3f	tmpUpdateErrorPosition

Eigen::MatrixXf	tmpUpdateJacobianPosition

Eigen::MatrixXf	tmpUpdateJacobianOrientation

Eigen::VectorXf	tmpComputeStepTheta

float	positionMaxStep

bool	verbose

Protected Attributes inherited from VirtualRobot::JacobiProvider
std::string	name

RobotNodeSetPtr	rns

InverseJacobiMethod	inverseMethod

bool	initialized

Eigen::VectorXf	jointWeights

float	dampedSvdLambda

float	jacobiMMRegularization

float	jacobiRadianRegularization

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...

Detailed Description

Encapsulates a differential inverse kinematics for the virtual robot.

The aim of this class is to offer a convenient mechanism to solve the inverse kinematics of redundant robots. With this class it is possible to specify goals for multiple TCPs which will be be used simultaneously within the same optimization step. That way, the IK for two-armed manipulation can be solved where both arms share the same hip joint (see image). For each tcp, it is possible to select which components of the error vector should be optimized. One can restrict it to consider only the orientation, or only position, or even only the $z$ -component, for instance. Any node of the virtual robot can be selected chosen tcp. For instance, the robot hand can be targed to reach for a position while its elbow should be lifted to a certain hight (see images and examples)

Despite all higher-level functionality, the standard application can still be implemented very intuitively. Example for bimanual manipulation:

// define a kinematic chain for bimanual manipulation.
std::vector<RobotNodePtr> nBi;
nBi.push_back(robot->getRobotNode(std::string("Shoulder 1 L")));
nBi.push_back(robot->getRobotNode(std::string("Shoulder 1 R")));
// ...
RobotNodeSetPtr kcBi = RobotNodeSet::createRobotNodeSet(robot,std::string("jacobiTestBi"),nBi);
// Create an IK algorithm instance. The world coordinate system is the frame of reference.
DifferentialIK dIK (kcBi);
// Set the target poses for the two end effectors.
dIK.setGoal(targetPose,tcp,DifferentialIK::Position);
dIK.setGoal(targetPose2,tcp2,DifferentialIK::Position);
// compute the IK using 0.1 stepsize and a maximum of 50 steps.
dIK.solveIK(0.1f);

Example for lifted elbow:

// should yield the kinematic chain of the left Arm
RobotNodeSetPtr leftArm;
// ...
// Create an IK algorithm instance. The world coordinate system is the frame of reference.
DifferentialIK dIK(leftArm);
// should yield the target vector.
Eigen::Vector3f target_position;
// ...
// Set the target for the end effector.
// This call sets the goal for the default tcp of the chain.
// For vectors, the default is to optimize the position only.
dIK.setGoal(target_position);
// Now the vector should yield the height of the elbow;
float elbow_target_z;
target_position(2) = elbow_target_z;
// Should be a reference to the elbow
RobotNodePtr elbow;
dIK.setGoal(target_position, elbow,DifferentialIK::Z);
// compute the IK using 0.1 stepsize and a maximum of 50 steps.
dIK.solveIK(0.1);
// the joints of kcBi are already set to the result

Constructor & Destructor Documentation

◆ DifferentialIK()

VirtualRobot::DifferentialIK::DifferentialIK	(	RobotNodeSetPtr	rns,
		RobotNodePtr	coordSystem = `RobotNodePtr()`,
		JacobiProvider::InverseJacobiMethod	invJacMethod = `eSVD`,
		float	invParam = `0.0f`
	)

Initialize a Jacobian object.

Parameters

rns	The robotNodes (i.e., joints) for which the Jacobians should be calculated.
coordSystem	The coordinate system in which the Jacobians are defined. By default the global coordinate system is used.
invJacMethod	The method for inverting the Jacobian
invParam	Only used when != 0.0f

Member Function Documentation

◆ checkImprovements()

void VirtualRobot::DifferentialIK::checkImprovements ( bool enable )

virtual

Enable or disable the check for improvements during computeSteps loop. If enabled and the delta to the goal does not gets smaller, the loop is canceled. Standard: disabled

◆ checkTolerances()

bool VirtualRobot::DifferentialIK::checkTolerances ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

◆ computeStep()

Eigen::VectorXf VirtualRobot::DifferentialIK::computeStep ( float stepSize = 1.0f )

virtual

Compute a single IK step.

Parameters

stepSize Controls the amount of error to be reduced in each step: $0 < \beta \leq 1$

Returns: The changes $\Delta \theta$ in the joint angles.

Note: {Note} This does not affect the joints values of the robot.

◆ computeSteps()

bool VirtualRobot::DifferentialIK::computeSteps	(	float	stepSize,
		float	minChange,
		int	maxSteps
	)

virtual

Computes the complete inverse kinematics.

Parameters

stepSize	Controls the amount of error to be reduced in each step: $0 < \beta \leq 1$
maxSteps	Maximal numbers of steps.
minChange	The minimal change in joint angles (euclidean distance in radians)

Note: {Note} Sets the node's joint angles automatically.

◆ convertModelScalingtoM()

void VirtualRobot::DifferentialIK::convertModelScalingtoM ( bool enable )

If enabled, the Jacobian is computed for [m] while assuming the kinematic definitions are given in [mm]. Standard: disabled

◆ getDefaultTCP()

RobotNodePtr VirtualRobot::DifferentialIK::getDefaultTCP ( )

virtual

Returns the default tcp of the robot.

◆ getDelta()

Eigen::VectorXf VirtualRobot::DifferentialIK::getDelta	(	const Eigen::Matrix4f &	current,
		const Eigen::Matrix4f &	goal,
		IKSolver::CartesianSelection	mode = `IKSolver::All`
	)

virtual

◆ getDeltaToGoal()

Eigen::VectorXf VirtualRobot::DifferentialIK::getDeltaToGoal ( SceneObjectPtr tcp = SceneObjectPtr() )

virtual

Returns 6D workspace delta that is used for Jacobi calculation.

◆ getError()

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

overridevirtual

Computes the complete error vector, considering all TCPs and goals.

Implements VirtualRobot::JacobiProvider.

◆ getErrorPosition()

float VirtualRobot::DifferentialIK::getErrorPosition ( SceneObjectPtr tcp = SceneObjectPtr() )

virtual

Returns the translation error for a given tcp (i.e., the distance to the target).

◆ getErrorRotation()

float VirtualRobot::DifferentialIK::getErrorRotation ( SceneObjectPtr tcp = SceneObjectPtr() )

virtual

Returns the error metric for a given tcp (i.e., the angle between the target pose).

◆ getJacobianMatrix() [1/4]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getJacobianMatrix	(	SceneObjectPtr	tcp,
		IKSolver::CartesianSelection	mode
	)

virtual

Returns the Jacobian matrix for a given tcp.

Parameters

tcp	The tcp joint that should be considered. By default the tcp joint that is defined in rns in the constructor is used.
mode	Allows to include only a subset of the Cartesian coordinates in the Jacobian (e.g., X\|Y if the z-component is unimportant)

Returns: The Jacobian matrix; The number of rows depends on mode.

Note: {Important} In most cases, DifferentialIK::computeSteps() should be used rather than handling the Jacobian matrix by one self.

Please note the convention used to describe the orientation: the scaled axis representation. Orientations in the target vector e (see the example below) have to be given as vectors parallel to the rotation axis. Their lengths have to be the rotation angle in radians. Given a target pose matrix and the actual tcp pose, the pseudo inverse Jacobian matrix can be used to compute the first Taylor expansion of the IK as follows:

// given pose matrices
Eigen::Matrix4f target_pose, actual_pose;
// the error vector
Eigen::VectorXd e(6);
// The translational error is just the vector  between the actual and the target position
e.segment(0,3) = target_pose(0,3,3,1) - actual_pose(0,3,3,1);
// For the rotational error, the transformation between the poses has to be calculated and
// reformulated into the rotation axis and angle. The error is then the rotation axis scaled
// by the angle in radians.
Eigen::Matrix4f orientation = targets_pose * actual_pose.inverse();
Eigen::AngleAxis<float> aa(orientation.block<3,3>(0,0));
e.segment(3,3) = aa.axis()*aa.angle();
// or
Eigen::AngleAxis orientation( target_pose * actual_pose.inverse()   )
e.block(3,3) = orientation.axis() * orientation.angle();
// Calculate the IK
Vector Xd dTheta = dIK->getPseudoInverseJacobianMatrix() * e;

All this is done within computeSteps(). For more information regarding the differential inverse kinematics, see this lecture.

◆ getJacobianMatrix() [2/4]

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

overridevirtual

Implements VirtualRobot::JacobiProvider.

◆ getJacobianMatrix() [3/4]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getJacobianMatrix ( IKSolver::CartesianSelection mode )

virtual

◆ getJacobianMatrix() [4/4]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getJacobianMatrix ( )

overridevirtual

Computes the complete Jacobian that considers all defined TCPs and goal poses.

Implements VirtualRobot::JacobiProvider.

◆ getMeanErrorPosition()

float VirtualRobot::DifferentialIK::getMeanErrorPosition ( )

virtual

Returns distance to goal. If multiple goals/TCPs are defined the mean distance is returned.

◆ getPseudoInverseJacobianMatrix() [1/3]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getPseudoInverseJacobianMatrix	(	SceneObjectPtr	tcp,
		IKSolver::CartesianSelection	mode = `IKSolver::All`
	)

virtual

Returns the pseudo inverse of the Jacobian matrix for a given tcp of the robot.

See also: getJacobianMatrix

The pseudo inverse $J^{+}$ can be calculated from the Jacobian matrix $ J $ using the following formula:

$J^t \cdot \left( J \cdot J^t \right)^{-1}.$

. Update: In order to improve stability, we are now using singular value decomposition (SVD).

◆ getPseudoInverseJacobianMatrix() [2/3]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getPseudoInverseJacobianMatrix ( )

virtual

◆ getPseudoInverseJacobianMatrix() [3/3]

Eigen::MatrixXf VirtualRobot::DifferentialIK::getPseudoInverseJacobianMatrix ( IKSolver::CartesianSelection mode )

virtual

◆ initialize()

void VirtualRobot::DifferentialIK::initialize ( )

virtual

Initializes the internal data structures according to setGoal setup. Usually no need to call this method explicitly, unless performInitialization was not requested in setGoal.

◆ print()

void VirtualRobot::DifferentialIK::print ( )

overridevirtual

print Print current status of the IK solver

Reimplemented from VirtualRobot::JacobiProvider.

◆ setGoal() [1/2]

void VirtualRobot::DifferentialIK::setGoal	(	const Eigen::Matrix4f &	goal,
		SceneObjectPtr	tcp = `SceneObjectPtr()`,
		IKSolver::CartesianSelection	mode = `IKSolver::All`,
		float	tolerancePosition = `5.0f`,
		float	toleranceRotation = `3.0f / 180.0f * M_PI`,
		bool	performInitialization = `true`
	)

virtual

Sets the target position for (one of) the tcp(s).

Parameters

goal	Target pose of the tcp.
tcp	The tcp joint that should be considered. By default the tcp joint that is defined in rns in the constructor is used.
mode	Allows to include only a subset of the Cartesian coordinates in the Jacobian (e.g., X\|Y if the z-component is unimportant)
tolerancePosition	The threshold when to accept a solution.
toleranceRotation	The threshold when to accept a solution in radians.
performInitialization	If multiple goals will be set, the internal initialization can be omitted in order to speed up the setup procedure (Ensure, to call initialize() after setting all goals).

◆ setGoal() [2/2]

void VirtualRobot::DifferentialIK::setGoal	(	const Eigen::Vector3f &	goal,
		SceneObjectPtr	tcp = `SceneObjectPtr()`,
		IKSolver::CartesianSelection	mode = `IKSolver::Position`,
		float	tolerancePosition = `5.0f`,
		float	toleranceRotation = `3.0f / 180.0f * M_PI`,
		bool	performInitialization = `true`
	)

virtual

Sets the target position for (one of) the tcp(s).

Parameters

goal	Target position of the tcp.
tcp	The tcp joints that should be considered. By default the tcp joint that is defined in rns in the constructor is used.
mode	Allows to include only a subset of the Cartesian coordinates in the Jacobian (e.g., X\|Y if the z-component is unimportant)
tolerancePosition	The threshold when to accept a solution.
toleranceRotation	The threshold when to accept a solution in radians.
performInitialization	If multiple goals will be set, the internal initialization can be omitted in order to speed up the setup procedure (Ensure, to call initialize() after setting all goals).

◆ setMaxPositionStep()

void VirtualRobot::DifferentialIK::setMaxPositionStep ( float s )

virtual

When considering large errors, the translational part can be cut to this length. Set to <= 0 to ignore cutting (standard)

◆ setNRows()

void VirtualRobot::DifferentialIK::setNRows ( )

protectedvirtual

◆ setVerbose()

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

◆ solveIK()

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

virtual

Computes the complete inverse kinematics.

Parameters

stepSize	Controls the amount of error to be reduced in each step: $0 < \beta \leq 1$
maxSteps	Maximal numbers of steps.
minChange	The minimal change in joint angles (euclidean distance in radians)

Note: {Note} Sets the node's joint angles automatically.

◆ updateDelta()

void VirtualRobot::DifferentialIK::updateDelta	(	Eigen::VectorXf &	delta,
		const Eigen::Matrix4f &	current,
		const Eigen::Matrix4f &	goal,
		IKSolver::CartesianSelection	mode = `IKSolver::All`
	)

virtual

◆ updateDeltaToGoal()

void VirtualRobot::DifferentialIK::updateDeltaToGoal	(	Eigen::VectorXf &	delta,
		SceneObjectPtr	tcp = `SceneObjectPtr()`
	)

virtual

Returns 6D workspace delta that is used for Jacobi calculation. Updates the currentDeltaToGoal vector

◆ updateError()

void VirtualRobot::DifferentialIK::updateError	(	Eigen::VectorXf &	error,
		float	stepSize = `1.0f`
	)

◆ updateJacobianMatrix() [1/2]

void VirtualRobot::DifferentialIK::updateJacobianMatrix ( Eigen::MatrixXf & jac )

◆ updateJacobianMatrix() [2/2]

void VirtualRobot::DifferentialIK::updateJacobianMatrix	(	Eigen::MatrixXf &	jac,
		SceneObjectPtr	tcp,
		IKSolver::CartesianSelection	mode
	)

Field Documentation

◆ checkImprovement

bool VirtualRobot::DifferentialIK::checkImprovement

protected

Indicates if the jacobian steps must improve the result, otherwise the loop is canceld.

◆ convertMMtoM

bool VirtualRobot::DifferentialIK::convertMMtoM

protected

◆ coordSystem

RobotNodePtr VirtualRobot::DifferentialIK::coordSystem

protected

◆ currentError

Eigen::VectorXf VirtualRobot::DifferentialIK::currentError

protected

◆ currentInvJacobian

Eigen::MatrixXf VirtualRobot::DifferentialIK::currentInvJacobian

protected

◆ currentJacobian

Eigen::MatrixXf VirtualRobot::DifferentialIK::currentJacobian

protected

◆ invParam

float VirtualRobot::DifferentialIK::invParam

protected

◆ modes

std::map<SceneObjectPtr, IKSolver::CartesianSelection> VirtualRobot::DifferentialIK::modes

protected

◆ nDoF

std::size_t VirtualRobot::DifferentialIK::nDoF

protected

◆ nodes

std::vector<RobotNodePtr> VirtualRobot::DifferentialIK::nodes

protected

◆ nRows

std::size_t VirtualRobot::DifferentialIK::nRows

protected

◆ parents

std::map< RobotNodePtr, std::vector<RobotNodePtr> > VirtualRobot::DifferentialIK::parents

protected

◆ partJacobians

std::map<SceneObjectPtr, Eigen::MatrixXf, std::less<SceneObjectPtr>, Eigen::aligned_allocator<std::pair<const SceneObjectPtr, Eigen::MatrixXf> > > VirtualRobot::DifferentialIK::partJacobians

protected

◆ positionMaxStep

float VirtualRobot::DifferentialIK::positionMaxStep

protected

◆ targets

std::map<SceneObjectPtr, Eigen::Matrix4f, std::less<SceneObjectPtr>, Eigen::aligned_allocator<std::pair<const SceneObjectPtr, Eigen::Matrix4f> > > VirtualRobot::DifferentialIK::targets

protected

◆ tcp_set

std::vector<SceneObjectPtr> VirtualRobot::DifferentialIK::tcp_set

protected

◆ tmpComputeStepTheta

Eigen::VectorXf VirtualRobot::DifferentialIK::tmpComputeStepTheta

protected

◆ tmpDeltaAA

Eigen::AngleAxis<float> VirtualRobot::DifferentialIK::tmpDeltaAA

protected

◆ tmpDeltaOrientation

Eigen::Matrix4f VirtualRobot::DifferentialIK::tmpDeltaOrientation

protected

◆ tmpUpdateErrorDelta

Eigen::VectorXf VirtualRobot::DifferentialIK::tmpUpdateErrorDelta

protected

◆ tmpUpdateErrorPosition

Eigen::Vector3f VirtualRobot::DifferentialIK::tmpUpdateErrorPosition

protected

◆ tmpUpdateJacobianOrientation

Eigen::MatrixXf VirtualRobot::DifferentialIK::tmpUpdateJacobianOrientation

protected

◆ tmpUpdateJacobianPosition

Eigen::MatrixXf VirtualRobot::DifferentialIK::tmpUpdateJacobianPosition

protected

◆ tolerancePosition

std::map<SceneObjectPtr, float> VirtualRobot::DifferentialIK::tolerancePosition

protected

◆ toleranceRotation

std::map<SceneObjectPtr, float> VirtualRobot::DifferentialIK::toleranceRotation

protected

◆ verbose

bool VirtualRobot::DifferentialIK::verbose

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DifferentialIK()

Member Function Documentation

◆ checkImprovements()

◆ checkTolerances()

◆ computeStep()

◆ computeSteps()

◆ convertModelScalingtoM()

◆ getDefaultTCP()

◆ getDelta()

◆ getDeltaToGoal()

◆ getError()

◆ getErrorPosition()

◆ getErrorRotation()

◆ getJacobianMatrix() [1/4]

◆ getJacobianMatrix() [2/4]

◆ getJacobianMatrix() [3/4]

◆ getJacobianMatrix() [4/4]

◆ getMeanErrorPosition()

◆ getPseudoInverseJacobianMatrix() [1/3]

◆ getPseudoInverseJacobianMatrix() [2/3]

◆ getPseudoInverseJacobianMatrix() [3/3]

◆ initialize()

◆ print()

◆ setGoal() [1/2]

◆ setGoal() [2/2]

◆ setMaxPositionStep()

◆ setNRows()

◆ setVerbose()

◆ solveIK()

◆ updateDelta()

◆ updateDeltaToGoal()

◆ updateError()

◆ updateJacobianMatrix() [1/2]

◆ updateJacobianMatrix() [2/2]

Field Documentation

◆ checkImprovement

◆ convertMMtoM

◆ coordSystem

◆ currentError

◆ currentInvJacobian

◆ currentJacobian

◆ invParam

◆ modes

◆ nDoF

◆ nodes

◆ nRows

◆ parents

◆ partJacobians

◆ positionMaxStep

◆ targets

◆ tcp_set

◆ tmpComputeStepTheta

◆ tmpDeltaAA

◆ tmpDeltaOrientation

◆ tmpUpdateErrorDelta

◆ tmpUpdateErrorPosition

◆ tmpUpdateJacobianOrientation

◆ tmpUpdateJacobianPosition

◆ tolerancePosition

◆ toleranceRotation

◆ verbose