VirtualRobot::JacobiProvider Class Reference

Inheritance diagram for VirtualRobot::JacobiProvider:

Public Types
enum	InverseJacobiMethod { eSVD, eSVDDamped, eSVDDampedDynamic, eTranspose }
	Several methods are offered for inverting the Jacobi (i.e. building the Pseudoinverse) More...

Public Member Functions
	JacobiProvider (RobotNodeSetPtr rns, InverseJacobiMethod invJacMethod=eSVD)
virtual	~JacobiProvider ()
virtual Eigen::MatrixXf	getJacobianMatrix ()=0
virtual Eigen::MatrixXd	getJacobianMatrixD ()
virtual Eigen::MatrixXf	getJacobianMatrix (SceneObjectPtr tcp)=0
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 ()
virtual Eigen::VectorXf	getError (float stepSize=1.0f)=0
virtual bool	checkTolerances ()=0
bool	isInitialized ()
void	setJointWeights (const Eigen::VectorXf &jointWeights)
virtual void	print ()
	print Print current status of the IK solver More...
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	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
std::string	name
RobotNodeSetPtr	rns
InverseJacobiMethod	inverseMethod
bool	initialized
Eigen::VectorXf	jointWeights
float	dampedSvdLambda
float	jacobiMMRegularization
float	jacobiRadianRegularization

Member Enumeration Documentation

InverseJacobiMethod

enum VirtualRobot::JacobiProvider::InverseJacobiMethod

Several methods are offered for inverting the Jacobi (i.e. building the Pseudoinverse)

Enumerator
eSVD
eSVDDamped
eSVDDampedDynamic
eTranspose

Constructor & Destructor Documentation

JacobiProvider()

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

~JacobiProvider()

VirtualRobot::JacobiProvider::~JacobiProvider ( )

virtualdefault

Member Function Documentation

checkTolerances()

virtual bool VirtualRobot::JacobiProvider::checkTolerances ( )

pure virtual

Implemented in VirtualRobot::DifferentialIK, VirtualRobot::Constraint, VirtualRobot::CoMIK, and VirtualRobot::JointLimitAvoidanceJacobi.

computePseudoInverseJacobianMatrix() [1/2]

Eigen::MatrixXf VirtualRobot::JacobiProvider::computePseudoInverseJacobianMatrix ( const Eigen::MatrixXf &  m, const Eigen::VectorXf  regularization = Eigen::VectorXf()  ) const

virtual

computePseudoInverseJacobianMatrix() [2/2]

Eigen::MatrixXf VirtualRobot::JacobiProvider::computePseudoInverseJacobianMatrix ( const Eigen::MatrixXf &  m, float  invParameter, const Eigen::VectorXf  regularization = Eigen::VectorXf()  ) const

virtual

computePseudoInverseJacobianMatrixD() [1/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::computePseudoInverseJacobianMatrixD ( const Eigen::MatrixXd &  m, const Eigen::VectorXd  regularization = Eigen::VectorXd()  ) const

virtual

computePseudoInverseJacobianMatrixD() [2/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::computePseudoInverseJacobianMatrixD ( const Eigen::MatrixXd &  m, double  invParameter, const Eigen::VectorXd  regularization = Eigen::VectorXd()  ) const

virtual

getDampedSvdLambda()

float VirtualRobot::JacobiProvider::getDampedSvdLambda

(

)

const

getError()

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

pure virtual

The error vector. the value depends on the implementation.

Implemented in VirtualRobot::DifferentialIK, VirtualRobot::Constraint, VirtualRobot::CoMIK, and VirtualRobot::JointLimitAvoidanceJacobi.

getJacobianMatrix() [1/2]

virtual Eigen::MatrixXf VirtualRobot::JacobiProvider::getJacobianMatrix ( )

pure virtual

Implemented in VirtualRobot::DifferentialIK, VirtualRobot::Constraint, VirtualRobot::CoMIK, and VirtualRobot::JointLimitAvoidanceJacobi.

getJacobianMatrix() [2/2]

virtual Eigen::MatrixXf VirtualRobot::JacobiProvider::getJacobianMatrix ( SceneObjectPtr  tcp )

pure virtual

Implemented in VirtualRobot::DifferentialIK, VirtualRobot::Constraint, VirtualRobot::CoMIK, and VirtualRobot::JointLimitAvoidanceJacobi.

getJacobianMatrixD() [1/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::getJacobianMatrixD ( )

virtual

getJacobianMatrixD() [2/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::getJacobianMatrixD ( SceneObjectPtr  tcp )

virtual

getJacobiMMRegularization()

float VirtualRobot::JacobiProvider::getJacobiMMRegularization

(

)

const

getJacobiRadianRegularization()

float VirtualRobot::JacobiProvider::getJacobiRadianRegularization

(

)

const

getJacobiRegularization()

Eigen::VectorXf VirtualRobot::JacobiProvider::getJacobiRegularization ( IKSolver::CartesianSelection  mode = IKSolver::All )

virtual

getPseudoInverseJacobianMatrix() [1/2]

Eigen::MatrixXf VirtualRobot::JacobiProvider::getPseudoInverseJacobianMatrix ( const Eigen::VectorXf  regularization = Eigen::VectorXf() )

virtual

getPseudoInverseJacobianMatrix() [2/2]

Eigen::MatrixXf VirtualRobot::JacobiProvider::getPseudoInverseJacobianMatrix ( SceneObjectPtr  tcp, const Eigen::VectorXf  regularization = Eigen::VectorXf()  )

virtual

getPseudoInverseJacobianMatrixD() [1/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::getPseudoInverseJacobianMatrixD ( const Eigen::VectorXd  regularization = Eigen::VectorXd() )

virtual

getPseudoInverseJacobianMatrixD() [2/2]

Eigen::MatrixXd VirtualRobot::JacobiProvider::getPseudoInverseJacobianMatrixD ( SceneObjectPtr  tcp, const Eigen::VectorXd  regularization = Eigen::VectorXd()  )

virtual

getRobotNodeSet()

VirtualRobot::RobotNodeSetPtr VirtualRobot::JacobiProvider::getRobotNodeSet

(

)

isInitialized()

bool VirtualRobot::JacobiProvider::isInitialized

(

)

print()

void VirtualRobot::JacobiProvider::print ( )

virtual

print Print current status of the IK solver

Reimplemented in VirtualRobot::DifferentialIK, and VirtualRobot::CoMIK.

setDampedSvdLambda()

void VirtualRobot::JacobiProvider::setDampedSvdLambda

(

float

value

)

setJacobiMMRegularization()

void VirtualRobot::JacobiProvider::setJacobiMMRegularization

(

float

value

)

setJacobiRadianRegularization()

void VirtualRobot::JacobiProvider::setJacobiRadianRegularization

(

float

value

)

setJointWeights()

void VirtualRobot::JacobiProvider::setJointWeights

(

const Eigen::VectorXf &

jointWeights

)

updatePseudoInverseJacobianMatrix()

void VirtualRobot::JacobiProvider::updatePseudoInverseJacobianMatrix ( Eigen::MatrixXf &  invJac, const Eigen::MatrixXf &  m, float  invParameter = 0.0f, Eigen::VectorXf  regularization = Eigen::VectorXf()  ) const

virtual

updatePseudoInverseJacobianMatrixD()

void VirtualRobot::JacobiProvider::updatePseudoInverseJacobianMatrixD ( Eigen::MatrixXd &  invJac, const Eigen::MatrixXd &  m, double  invParameter = 0.0, Eigen::VectorXd  regularization = Eigen::VectorXd()  ) const

virtual

updatePseudoInverseJacobianMatrixDInternal()

void VirtualRobot::JacobiProvider::updatePseudoInverseJacobianMatrixDInternal ( Eigen::MatrixXd &  invJac, const Eigen::MatrixXd &  m, double  invParameter = 0.0  ) const

protectedvirtual

updatePseudoInverseJacobianMatrixInternal()

void VirtualRobot::JacobiProvider::updatePseudoInverseJacobianMatrixInternal ( Eigen::MatrixXf &  invJac, const Eigen::MatrixXf &  m, float  invParameter = 0.0f  ) const

protectedvirtual

Field Documentation

dampedSvdLambda

float VirtualRobot::JacobiProvider::dampedSvdLambda

protected

initialized

bool VirtualRobot::JacobiProvider::initialized

protected

inverseMethod

InverseJacobiMethod VirtualRobot::JacobiProvider::inverseMethod

protected

jacobiMMRegularization

float VirtualRobot::JacobiProvider::jacobiMMRegularization

protected

jacobiRadianRegularization

float VirtualRobot::JacobiProvider::jacobiRadianRegularization

protected

jointWeights

Eigen::VectorXf VirtualRobot::JacobiProvider::jointWeights

protected

name

std::string VirtualRobot::JacobiProvider::name

protected

rns

RobotNodeSetPtr VirtualRobot::JacobiProvider::rns

protected