VirtualRobot::JointLimitAvoidanceJacobi Class Reference

Inheritance diagram for VirtualRobot::JointLimitAvoidanceJacobi:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	JointLimitAvoidanceJacobi (RobotNodeSetPtr rns, JacobiProvider::InverseJacobiMethod invJacMethod=JacobiProvider::eSVD)
Eigen::MatrixXf	getJacobianMatrix () override
Eigen::MatrixXf	getJacobianMatrix (VirtualRobot::SceneObjectPtr tcp) override
Eigen::VectorXf	getError (float stepSize=1.0f) override
bool	checkTolerances () override
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)
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 Attributes
std::vector< RobotNodePtr >	nodes
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...
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

Detailed Description

This class creates a dummy Jacobian matrix (identity) that can be used to specify a joint space task (e.g. a joint limit avoidance task)

Constructor & Destructor Documentation

JointLimitAvoidanceJacobi()

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

Member Function Documentation

checkTolerances()

bool VirtualRobot::JointLimitAvoidanceJacobi::checkTolerances ( )

overridevirtual

Not used, only implemented because of superclass JacobiProvider, always returns true

Implements VirtualRobot::JacobiProvider.

getError()

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

overridevirtual

Computes the complete error vector that is given by the distance to the center of the joint limits. Translational Joints are ignored (error = 0)

Parameters

stepSize

The error can be reduced by this factor.

Implements VirtualRobot::JacobiProvider.

getJacobianMatrix() [1/2]

Eigen::MatrixXf VirtualRobot::JointLimitAvoidanceJacobi::getJacobianMatrix ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getJacobianMatrix() [2/2]

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

overridevirtual

Implements VirtualRobot::JacobiProvider.

Field Documentation

nodes

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

protected