Inheritance diagram for VirtualRobot::GenericIKSolver:

Public Member Functions
	GenericIKSolver (RobotNodeSetPtr rns, JacobiProvider::InverseJacobiMethod invJacMethod=JacobiProvider::eSVD)
	Initialize an IK solver without collision detection. More...

bool	solve (const Eigen::Matrix4f &globalPose, CartesianSelection selection=All, int maxLoops=1) override

GraspPtr	solve (ManipulationObjectPtr object, CartesianSelection selection=All, int maxLoops=1) override

bool	solve (ManipulationObjectPtr object, GraspPtr grasp, CartesianSelection selection=All, int maxLoops=1) override

void	setupJacobian (float stepSize, int maxLoops)

void	setVerbose (bool enable)

DifferentialIKPtr	getDifferentialIK ()

void	setupTranslationalJoint (RobotNodePtr rn, float initialValue)

Public Member Functions inherited from VirtualRobot::AdvancedIKSolver
	AdvancedIKSolver (RobotNodeSetPtr rns)
	Initialize a IK solver without collision detection. More...

virtual void	collisionDetection (SceneObjectPtr avoidCollisionsWith)

virtual void	collisionDetection (ObstaclePtr avoidCollisionsWith)

virtual void	collisionDetection (SceneObjectSetPtr avoidCollisionsWith)

virtual void	collisionDetection (CDManagerPtr avoidCollision)

virtual void	setMaximumError (float maxErrorPositionMM=1.0f, float maxErrorOrientationRad=0.02)

virtual void	setReachabilityCheck (ReachabilityPtr reachabilitySpace)

virtual std::vector< float >	solveNoRNSUpdate (const Eigen::Matrix4f &globalPose, CartesianSelection selection=All)

virtual bool	solve (const Eigen::Vector3f &globalPosition)

virtual GraspPtr	sampleSolution (ManipulationObjectPtr object, GraspSetPtr graspSet, CartesianSelection selection=All, bool removeGraspFromSet=false, int maxLoops=1)

virtual bool	checkReachable (const Eigen::Matrix4f &globalPose)

RobotNodeSetPtr	getRobotNodeSet ()

RobotNodePtr	getTcp ()

void	setVerbose (bool enable)

Public Member Functions inherited from VirtualRobot::IKSolver
	IKSolver ()

Protected Member Functions
virtual void	_init ()
	This method is called by the constructor and can be used in derived classes for initialization. More...

bool	_sampleSolution (const Eigen::Matrix4f &globalPose, CartesianSelection selection, int maxLoops=1) override
	This method should deliver solution sample out of the set of possible solutions. More...

bool	trySolve ()

void	setJointsRandom ()

Protected Attributes
RobotNodePtr	coordSystem

JacobiProvider::InverseJacobiMethod	invJacMethod

DifferentialIKPtr	jacobian

float	jacobianStepSize

int	jacobianMaxLoops

RobotNodePtr	translationalJoint

float	initialTranslationalJointValue

Protected Attributes inherited from VirtualRobot::AdvancedIKSolver
RobotNodeSetPtr	rns

RobotNodePtr	tcp

CDManagerPtr	cdm

float	maxErrorPositionMM

float	maxErrorOrientationRad

ReachabilityPtr	reachabilitySpace

bool	verbose

Additional Inherited Members
Public Types inherited from VirtualRobot::IKSolver
enum	CartesianSelection { X = 1, Y = 2, Z = 4, Position = 7, Orientation = 8, All = 15 }
	Flags for the selection of the target components. More...

Constructor & Destructor Documentation

◆ GenericIKSolver()

VirtualRobot::GenericIKSolver::GenericIKSolver	(	RobotNodeSetPtr	rns,
		JacobiProvider::InverseJacobiMethod	invJacMethod = `JacobiProvider::eSVD`
	)

Initialize an IK solver without collision detection.

Parameters

rns	The robotNodes (i.e., joints) for which the Jacobians should be calculated.
invJacMethod	The method that should be used to compute the inverse of the Jacobian.

Member Function Documentation

◆ _init()

void VirtualRobot::GenericIKSolver::_init ( )

protectedvirtual

This method is called by the constructor and can be used in derived classes for initialization.

◆ _sampleSolution()

bool VirtualRobot::GenericIKSolver::_sampleSolution	(	const Eigen::Matrix4f &	globalPose,
		CartesianSelection	selection,
		int	maxLoops = `1`
	)

overrideprotectedvirtual

This method should deliver solution sample out of the set of possible solutions.

Reimplemented from VirtualRobot::AdvancedIKSolver.

◆ getDifferentialIK()

DifferentialIKPtr VirtualRobot::GenericIKSolver::getDifferentialIK ( )

◆ setJointsRandom()

void VirtualRobot::GenericIKSolver::setJointsRandom ( )

protected

◆ setupJacobian()

void VirtualRobot::GenericIKSolver::setupJacobian	(	float	stepSize,
		int	maxLoops
	)

◆ setupTranslationalJoint()

void VirtualRobot::GenericIKSolver::setupTranslationalJoint	(	RobotNodePtr	rn,
		float	initialValue
	)

◆ setVerbose()

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

◆ solve() [1/3]

bool VirtualRobot::GenericIKSolver::solve	(	const Eigen::Matrix4f &	globalPose,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

overridevirtual

This method solves the IK up to the specified max error. On success, the joints of the the corresponding RobotNodeSet are set to the IK solution.

Parameters

globalPose	The target pose given in global coordinate system.
selection	Select the parts of the global pose that should be used for IK solving. (e.g. you can just consider the position and ignore the target orientation)
maxLoops	How often should we try.

Returns: true on success

Implements VirtualRobot::AdvancedIKSolver.

◆ solve() [2/3]

VirtualRobot::GraspPtr VirtualRobot::GenericIKSolver::solve	(	ManipulationObjectPtr	object,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

overridevirtual

This method solves the IK up to the specified max error. On success, the joints of the the corresponding RobotNodeSet are set to the IK solution.

Parameters

object	The grasps of this object are checked if the stored TCP is identical with teh TCP of teh current RobotNodeSet, and the an IK solution for one of remaining grasps is searched.
selection	Select the parts of the global pose that should be used for IK solving. (e.g. you can just consider the position and ignore the target orientation)
maxLoops	How often should we try.

Returns: On success: The grasp for which an IK-solution was found, otherwise an empty GraspPtr

Reimplemented from VirtualRobot::AdvancedIKSolver.

◆ solve() [3/3]

bool VirtualRobot::GenericIKSolver::solve	(	ManipulationObjectPtr	object,
		GraspPtr	grasp,
		CartesianSelection	selection = `All`,
		int	maxLoops = `1`
	)

overridevirtual

Reimplemented from VirtualRobot::AdvancedIKSolver.

◆ trySolve()

bool VirtualRobot::GenericIKSolver::trySolve ( )

protected

Field Documentation

◆ coordSystem

RobotNodePtr VirtualRobot::GenericIKSolver::coordSystem

protected

◆ initialTranslationalJointValue

float VirtualRobot::GenericIKSolver::initialTranslationalJointValue

protected

◆ invJacMethod

JacobiProvider::InverseJacobiMethod VirtualRobot::GenericIKSolver::invJacMethod

protected

◆ jacobian

DifferentialIKPtr VirtualRobot::GenericIKSolver::jacobian

protected

◆ jacobianMaxLoops

int VirtualRobot::GenericIKSolver::jacobianMaxLoops

protected

◆ jacobianStepSize

float VirtualRobot::GenericIKSolver::jacobianStepSize

protected

◆ translationalJoint

RobotNodePtr VirtualRobot::GenericIKSolver::translationalJoint

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ GenericIKSolver()

Member Function Documentation

◆ _init()

◆ _sampleSolution()

◆ getDifferentialIK()

◆ setJointsRandom()

◆ setupJacobian()

◆ setupTranslationalJoint()

◆ setVerbose()

◆ solve() [1/3]

◆ solve() [2/3]

◆ solve() [3/3]

◆ trySolve()

Field Documentation

◆ coordSystem

◆ initialTranslationalJointValue

◆ invJacMethod

◆ jacobian

◆ jacobianMaxLoops

◆ jacobianStepSize

◆ translationalJoint