VirtualRobot::GazeIK Class Reference

Inheritance diagram for VirtualRobot::GazeIK:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GazeIK (RobotNodeSetPtr rns, RobotNodePrismaticPtr virtualTranslationJoint)
void	setup (float maxPosError, int maxLoops, int maxGradientDecentSteps)
void	enableJointLimitAvoidance (bool enable)
Eigen::VectorXf	computeStep (const Eigen::Vector3f &goal, float stepSize=0.6f)
bool	solve (const Eigen::Vector3f &goal, float stepSize=0.6f)
float	getMaxPosError ()
void	setVerbose (bool v)

Protected Member Functions
void	setupIK ()
void	setJointsRandom ()
void	setJointsRandom (const Eigen::Vector3f &goal, int bestOfTries)
bool	trySolve (const Eigen::Vector3f &goal, float stepSize)
float	getCurrentError (const Eigen::Vector3f &goal)
void	applyJLA (const Eigen::Vector3f &goal, int steps, float stepSize)
bool	checkTolerances (const Eigen::Vector3f &goal)

Protected Attributes
std::vector< RobotNodePtr >	nodes
RobotNodeSetPtr	rns
RobotNodePrismaticPtr	virtualTranslationJoint
HierarchicalIKPtr	ikSolver
DifferentialIKPtr	ikGaze
JointLimitAvoidanceJacobiPtr	ikJointLimits
bool	enableJLA
int	maxLoops
int	maxGradientDecentSteps
float	maxPosError
int	randomTriesToGetBestConfig
bool	verbose

Detailed Description

A specialized IK solver for gaze related tasks. The gaze is represented by a virtual translational joint and the IK problem is solved by searching a solution for the head joints and the virtual gaze joint so that the position of the end point is at the requested gaze position. By default joint limit avoidance is considered as secondary task in order to generate more naturally looking configurations.

Constructor & Destructor Documentation

GazeIK()

VirtualRobot::GazeIK::GazeIK	(	RobotNodeSetPtr	rns,
		RobotNodePrismaticPtr	virtualTranslationJoint
	)

Constructor

Parameters

rns	The RobotNodeSet containing the neck (optionally a common eye tilt joint) and the virtual translational joint that represents the gaze. The TCP of the RNS is tried to position at the goal pose.
virtualTranslationJoint	A prismatic joint (usually without any models and physics properties) that represents the gaze

Member Function Documentation

applyJLA()

void VirtualRobot::GazeIK::applyJLA ( const Eigen::Vector3f &  goal, int  steps, float  stepSize  )

protected

checkTolerances()

bool VirtualRobot::GazeIK::checkTolerances ( const Eigen::Vector3f &  goal )

protected

computeStep()

Eigen::VectorXf VirtualRobot::GazeIK::computeStep	(	const Eigen::Vector3f &	goal,
		float	stepSize = 0.6f
	)

Compute a gradient descent step.

Parameters

goal	The goal position of the gaze in global coordinate system.
stepSize	Can be used to limit the error step.

Returns

the joint delta vector

enableJointLimitAvoidance()

void VirtualRobot::GazeIK::enableJointLimitAvoidance

(

bool

enable

)

Joint Limit Avoidance is considered as secondary task.

Parameters

enable

The joint limit avoidance can be enabled (standard) or disabled.

getCurrentError()

float VirtualRobot::GazeIK::getCurrentError ( const Eigen::Vector3f &  goal )

protected

getMaxPosError()

float VirtualRobot::GazeIK::getMaxPosError

(

)

setJointsRandom() [1/2]

void VirtualRobot::GazeIK::setJointsRandom ( )

protected

setJointsRandom() [2/2]

void VirtualRobot::GazeIK::setJointsRandom ( const Eigen::Vector3f &  goal, int  bestOfTries  )

protected

setup()

void VirtualRobot::GazeIK::setup	(	float	maxPosError,
		int	maxLoops,
		int	maxGradientDecentSteps
	)

The standard setup can be changed with this method.

Parameters

maxPosError	Specifies how exact the target should be reached (standard 5mm).
maxLoops	Specifies how many seeds should be generate for starting a gradient descent search (standard 30)
maxGradientDecentSteps	The maximum number of steps that should be taken to decent the gradient

setupIK()

void VirtualRobot::GazeIK::setupIK ( )

protected

setVerbose()

void VirtualRobot::GazeIK::setVerbose

(

bool

v

)

solve()

bool VirtualRobot::GazeIK::solve	(	const Eigen::Vector3f &	goal,
		float	stepSize = 0.6f
	)

trySolve()

bool VirtualRobot::GazeIK::trySolve ( const Eigen::Vector3f &  goal, float  stepSize  )

protected

Field Documentation

enableJLA

bool VirtualRobot::GazeIK::enableJLA

protected

ikGaze

DifferentialIKPtr VirtualRobot::GazeIK::ikGaze

protected

ikJointLimits

JointLimitAvoidanceJacobiPtr VirtualRobot::GazeIK::ikJointLimits

protected

ikSolver

HierarchicalIKPtr VirtualRobot::GazeIK::ikSolver

protected

maxGradientDecentSteps

int VirtualRobot::GazeIK::maxGradientDecentSteps

protected

maxLoops

int VirtualRobot::GazeIK::maxLoops

protected

maxPosError

float VirtualRobot::GazeIK::maxPosError

protected

nodes

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

protected

randomTriesToGetBestConfig

int VirtualRobot::GazeIK::randomTriesToGetBestConfig

protected

rns

RobotNodeSetPtr VirtualRobot::GazeIK::rns

protected

verbose

bool VirtualRobot::GazeIK::verbose

protected

virtualTranslationJoint

RobotNodePrismaticPtr VirtualRobot::GazeIK::virtualTranslationJoint

protected