Inheritance diagram for VirtualRobot::Manipulability:

Data Structures
struct	ManipulabiliyGrasp

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Manipulability (RobotPtr robot)

std::vector< ManipulabiliyGrasp >	analyseGrasps (GraspSetPtr grasps, ManipulationObjectPtr object)

ManipulabiliyGrasp	analyseGrasp (GraspPtr grasp, ManipulationObjectPtr object)

void	setManipulabilityMeasure (PoseQualityMeasurementPtr m)

PoseQualityMeasurementPtr	getManipulabilityMeasure ()

float	measureCurrentPose ()
	measureCurrentPose Uses internal quality measure to determine the quality value of the current tcp pose More...

std::string	getMeasureName () const

bool	consideringJointLimits () const

void	setMaxManipulability (float maximalManip)

float	getMaxManipulability ()

float	getManipulabilityAtPose (const Eigen::Matrix4f &globalPose)

void	initSelfDistanceCheck (RobotNodeSetPtr staticModel, RobotNodeSetPtr dynamicModel)

virtual bool	checkForParameters (RobotNodeSetPtr nodeSet, float steps, float storeMinBounds[6], float storeMaxBounds[6], float &storeMaxManipulability, RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr())

bool	smooth (unsigned int minNeighbors=1)

GraspSetPtr	getReachableGrasps (GraspSetPtr grasps, ManipulationObjectPtr object)

void	getSelfDistConfig (bool &storeConsiderSelfDist, RobotNodeSetPtr &storeStatic, RobotNodeSetPtr &storeDynamic)

WorkspaceRepresentationPtr	clone () override

void	addRandomTCPPoses (unsigned int loops, unsigned int numThreads, bool checkForSelfCollisions=true) override

Public Member Functions inherited from VirtualRobot::WorkspaceRepresentation
	WorkspaceRepresentation (RobotPtr robot)

virtual void	reset ()

virtual void	load (const std::string &filename)

virtual void	save (const std::string &filename)

unsigned char	getEntry (const Eigen::Matrix4f &globalPose) const

int	getMaxEntry () const
	Returns the maximum entry of a voxel. More...

float	getVoxelSize (int dim) const
	returns the extends of a voxel at corresponding dimension. More...

RobotNodePtr	getBaseNode ()
	The base node of this workspace data. More...

RobotNodePtr	getTCP ()
	The corresponding TCP. More...

RobotNodeSetPtr	getNodeSet ()
	The kinematic chain that is covered by this workspace data. More...

void	invalidateBehindRobot (bool inverted=false)

virtual void	initialize (RobotNodeSetPtr nodeSet, float discretizeStepTranslation, float discretizeStepRotation, const float minBounds[6], const float maxBounds[6], SceneObjectSetPtr staticCollisionModel=SceneObjectSetPtr(), SceneObjectSetPtr dynamicCollisionModel=SceneObjectSetPtr(), RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr(), bool adjustOnOverflow=true)

virtual void	setCurrentTCPPoseEntryIfLower (unsigned char e)

virtual void	setCurrentTCPPoseEntry (unsigned char e)

virtual void	clear ()

virtual bool	setRobotNodesToRandomConfig (VirtualRobot::RobotNodeSetPtr nodeSet=VirtualRobot::RobotNodeSetPtr(), bool checkForSelfCollisions=true)

virtual void	binarize ()

virtual int	fillHoles (unsigned int minNeighbors=1)

virtual void	print ()

Eigen::Matrix4f	sampleCoveredPose ()
	returns a random pose that is covered by the workspace data More...

bool	isCovered (const Eigen::Matrix4f &globalPose)

bool	isCovered (unsigned int v[6])

virtual int	getNumVoxels (int dim) const

virtual float	getMinBound (int dim) const

virtual float	getMaxBound (int dim) const

virtual unsigned char	getVoxelEntry (unsigned int a, unsigned int b, unsigned int c, unsigned int d, unsigned int e, unsigned int f) const

virtual int	sumAngleReachabilities (int x0, int x1, int x2) const

virtual int	avgAngleReachabilities (int x0, int x1, int x2) const

virtual int	getMaxEntry (int x0, int x1, int x2) const

virtual int	getMaxEntry (const Eigen::Vector3f &position_global) const

virtual bool	getVoxelFromPose (const Eigen::Matrix4f &globalPose, unsigned int v[6]) const

virtual bool	getVoxelFromPosition (const Eigen::Matrix4f &globalPose, unsigned int v[3]) const

Eigen::Matrix4f	getPoseFromVoxel (unsigned int v[6], bool transformToGlobalPose=true)

Eigen::Matrix4f	getPoseFromVoxel (float v[6], bool transformToGlobalPose=true)

virtual int	getMaxSummedAngleReachablity ()

virtual bool	hasEntry (unsigned int x, unsigned int y, unsigned int z)

virtual bool	checkForParameters (RobotNodeSetPtr nodeSet, float steps, float storeMinBounds[6], float storeMaxBounds[6], RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr())

WorkspaceCut2DPtr	createCut (const Eigen::Matrix4f &referencePose, float cellSize, bool sumAngles) const

WorkspaceCut2DPtr	createCut (float heightPercent, float cellSize, bool sumAngles) const
	createCut Create a cut at a specific height (assuming z is upwards). More...

std::vector< WorkspaceCut2DTransformationPtr >	createCutTransformations (WorkspaceCut2DPtr cutXY, RobotNodePtr referenceNode=RobotNodePtr(), float maxAngle=M_PIf32)

bool	getWorkspaceExtends (Eigen::Vector3f &storeMinBBox, Eigen::Vector3f &storeMaxBBox) const

MathTools::OOBB	getOOBB (bool achievedValues=false) const

float	getDiscretizeParameterTranslation ()

float	getDiscretizeParameterRotation ()

RobotPtr	getRobot ()

SceneObjectSetPtr	getCollisionModelStatic ()

SceneObjectSetPtr	getCollisionModelDynamic ()

RobotNodePtr	getTcp ()

bool	getAdjustOnOverflow ()

virtual void	addCurrentTCPPose ()

void	addRandomTCPPoses (unsigned int loops, bool checkForSelfCollisions=true)

void	setVoxelEntry (unsigned int v[6], unsigned char e)

void	setEntry (const Eigen::Matrix4f &poseGlobal, unsigned char e)

void	setEntryCheckNeighbors (const Eigen::Matrix4f &poseGlobal, unsigned char e, unsigned int neighborVoxels)

virtual void	toLocal (Eigen::Matrix4f &p) const

virtual void	toGlobal (Eigen::Matrix4f &p) const

void	toLocalVec (Eigen::Vector3f &positionGlobal) const

void	toGlobalVec (Eigen::Vector3f &positionLocal) const

void	matrix2Vector (const Eigen::Matrix4f &m, float x[6]) const
	Convert a 4x4 matrix to a pos + ori vector. More...

void	vector2Matrix (const float x[6], Eigen::Matrix4f &m) const

void	vector2Matrix (const Eigen::Vector3f &pos, const Eigen::Vector3f &rot, Eigen::Matrix4f &m) const

virtual bool	getVoxelFromPose (float x[6], unsigned int v[6]) const

virtual bool	getVoxelFromPosition (float x[3], unsigned int v[3]) const

void	setOrientationType (eOrientationType t)

WorkspaceDataPtr	getData ()

bool	getPoseFromVoxel (unsigned int x[], float v[]) const

virtual VolumeInfo	computeVolumeInformation ()

Protected Member Functions
bool	customLoad (std::ifstream &file) override

bool	customSave (std::ofstream &file) override

void	customPrint () override

void	customInitialize () override

bool	customStringRead (std::ifstream &file, std::string &res)

float	getCurrentManipulability (PoseQualityMeasurementPtr qualMeasure, RobotNodeSetPtr selfDistSt=RobotNodeSetPtr(), RobotNodeSetPtr selfDistDyn=RobotNodeSetPtr())

void	addPose (const Eigen::Matrix4f &p) override

void	addPose (const Eigen::Matrix4f &p, PoseQualityMeasurementPtr qualMeasure) override
	addPose Adds pose and rate it with the given quality measure. Ignored in this implementation, but used in derived classes ( More...

void	addPose (const Eigen::Matrix4f &p, PoseQualityMeasurementPtr qualMeasure, RobotNodeSetPtr selfDistSt, RobotNodeSetPtr selfDistDyn)

Protected Member Functions inherited from VirtualRobot::WorkspaceRepresentation
void	uncompressData (const unsigned char source, int size, unsigned char dest)
	Uncompress the data. More...

unsigned char *	compressData (const unsigned char *source, int size, int &compressedSize)
	Compress the data. More...

virtual Eigen::Matrix4f	getToLocalTransformation () const

virtual Eigen::Matrix4f	getToGlobalTransformation () const

Protected Attributes
PoseQualityMeasurementPtr	measure

float	maxManip

std::string	measureName

bool	considerJL

bool	considerSelfDist

RobotNodeSetPtr	selfDistStatic

RobotNodeSetPtr	selfDistDynamic

float	selfDistAlpha

float	selfDistBeta

Protected Attributes inherited from VirtualRobot::WorkspaceRepresentation
RobotPtr	robot

RobotNodePtr	baseNode

RobotNodePtr	tcpNode

RobotNodeSetPtr	nodeSet

SceneObjectSetPtr	staticCollisionModel

SceneObjectSetPtr	dynamicCollisionModel

int	buildUpLoops

int	collisionConfigs

float	discretizeStepTranslation

float	discretizeStepRotation

float	minBounds [6]

float	maxBounds [6]

int	numVoxels [6]

float	achievedMinValues [6]

float	achievedMaxValues [6]

float	spaceSize [6]

WorkspaceDataPtr	data

bool	adjustOnOverflow

std::string	type

int	versionMajor

int	versionMinor

eOrientationType	orientationType
	Specifies how the rotation part (x[3],x[4],x[5]) of an 6D voxel entry is encoded. More...

Additional Inherited Members
Public Types inherited from VirtualRobot::WorkspaceRepresentation
enum	eOrientationType { RPY, EulerXYZ, EulerXYZExtrinsic, Hopf }

typedef int32_t	ioIntTypeRead

typedef std::shared_ptr< WorkspaceCut2D >	WorkspaceCut2DPtr

typedef std::shared_ptr< WorkspaceCut2DTransformation >	WorkspaceCut2DTransformationPtr

Data Fields inherited from VirtualRobot::WorkspaceRepresentation
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int32_t	ioIntTypeWrite

Detailed Description

This class represents an approximation of the distribution of a kinematic chain's manipulability. Therefore, the Cartesian space (6D) is voxelized. Each voxel holds a quality value, approximatively representing the maximum manipulability that can be achieved at the given pose. The discretized manipulability data can be written to and loaded from binary files.

The manipulability is linked to a base coordinate system which is defined by a robot joint. This base system is used to align the data when the robot is moving. I.e. think of an arm of a humanoid where the manipulability data is linked to the shoulder. When the torso moves, the manipulability also changes it's position according to the position of the shoulder.

For buildup different manipulability measures can be incorporated (e.g. Yoshikawa's manipulability measure or extensions to this approach).

See also: PoseQualityMeasurement; PoseQualityManipulability; PoseQualityExtendedManipulability

Constructor & Destructor Documentation

◆ Manipulability()

VirtualRobot::Manipulability::Manipulability ( RobotPtr robot )

Member Function Documentation

◆ addPose() [1/3]

void VirtualRobot::Manipulability::addPose ( const Eigen::Matrix4f & p )

overrideprotectedvirtual

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ addPose() [2/3]

void VirtualRobot::Manipulability::addPose	(	const Eigen::Matrix4f &	p,
		PoseQualityMeasurementPtr	qualMeasure
	)

overrideprotectedvirtual

addPose Adds pose and rate it with the given quality measure. Ignored in this implementation, but used in derived classes (

See also: Manipulability)

Parameters

p
qualMeasure

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ addPose() [3/3]

void VirtualRobot::Manipulability::addPose	(	const Eigen::Matrix4f &	p,
		PoseQualityMeasurementPtr	qualMeasure,
		RobotNodeSetPtr	selfDistSt,
		RobotNodeSetPtr	selfDistDyn
	)

protected

◆ addRandomTCPPoses()

void VirtualRobot::Manipulability::addRandomTCPPoses	(	unsigned int	loops,
		unsigned int	numThreads,
		bool	checkForSelfCollisions = `true`
	)

overridevirtual

Appends a number of random TCP poses to workspace Data (multithreaded). This method is blocking, i.e. it returns as soon as all threads are done.

Parameters

loops	Number of poses that should be appended
numThreads	number of worker threads used behind the scenes to append random TCP poses to workspace data.
checkForSelfCollisions	Build a collision-free configuration. If true, random configs are generated until one is collision-free.

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ analyseGrasp()

Manipulability::ManipulabiliyGrasp VirtualRobot::Manipulability::analyseGrasp	(	GraspPtr	grasp,
		ManipulationObjectPtr	object
	)

◆ analyseGrasps()

std::vector< Manipulability::ManipulabiliyGrasp > VirtualRobot::Manipulability::analyseGrasps	(	GraspSetPtr	grasps,
		ManipulationObjectPtr	object
	)

Performs a manipulability analysis of grasps at the current position of the object.

Parameters

grasps	The grasps that should be analyzed.
object	The grasps are supposed to to be applied to the object at its current global pose.

Returns: A vector of all grasps with manipulability>0 in sorted order (starting with the grasp with highest manipulability)

◆ checkForParameters()

bool VirtualRobot::Manipulability::checkForParameters	(	RobotNodeSetPtr	nodeSet,
		float	steps,
		float	storeMinBounds[6],
		float	storeMaxBounds[6],
		float &	storeMaxManipulability,
		RobotNodePtr	baseNode = `RobotNodePtr()`,
		RobotNodePtr	tcpNode = `RobotNodePtr()`
	)

virtual

Do a test run in order to get an idea of the covered workspace extends and the maximum manipulability. The resulting values can be used to initialize this object. Values are slightly scaled.

Parameters

nodeSet	These nodes should be considered.
steps	How many steps should be performed (use a large value e.g. 1000)
storeMinBounds	The achieved minimum values are stored here.
storeMaxBounds	The achieved maximum values are stored here.
storeMaxManipulability	The maximal achieved manipulability is stored here.
baseNode	The base node.
tcpNode	The tcp.

See also: WorkspaceRepresentation::initialize()

◆ clone()

VirtualRobot::WorkspaceRepresentationPtr VirtualRobot::Manipulability::clone ( )

overridevirtual

Creates a deep copy of this data structure. A ManipulabilityPtr is returned.

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ consideringJointLimits()

bool VirtualRobot::Manipulability::consideringJointLimits ( ) const

Returns true, if manipulability measure considers joint limits.

◆ customInitialize()

void VirtualRobot::Manipulability::customInitialize ( )

overrideprotectedvirtual

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ customLoad()

bool VirtualRobot::Manipulability::customLoad ( std::ifstream & )

overrideprotectedvirtual

Derived classes may implement some custom data access.

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ customPrint()

void VirtualRobot::Manipulability::customPrint ( )

overrideprotectedvirtual

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ customSave()

bool VirtualRobot::Manipulability::customSave ( std::ofstream & )

overrideprotectedvirtual

Derived classes may implement some custom data access.

Reimplemented from VirtualRobot::WorkspaceRepresentation.

◆ customStringRead()

bool VirtualRobot::Manipulability::customStringRead	(	std::ifstream &	file,
		std::string &	res
	)

protected

◆ getCurrentManipulability()

float VirtualRobot::Manipulability::getCurrentManipulability	(	PoseQualityMeasurementPtr	qualMeasure,
		RobotNodeSetPtr	selfDistSt = `RobotNodeSetPtr()`,
		RobotNodeSetPtr	selfDistDyn = `RobotNodeSetPtr()`
	)

protected

◆ getManipulabilityAtPose()

float VirtualRobot::Manipulability::getManipulabilityAtPose ( const Eigen::Matrix4f & globalPose )

Returns the maximal manipulability that can approximatively be achieved at globalPose. Therefore, the entry of the discretized manipulability data is used and projected to [0,maxManip]

◆ getManipulabilityMeasure()

PoseQualityMeasurementPtr VirtualRobot::Manipulability::getManipulabilityMeasure ( )

◆ getMaxManipulability()

float VirtualRobot::Manipulability::getMaxManipulability ( )

◆ getMeasureName()

std::string VirtualRobot::Manipulability::getMeasureName ( ) const

Returns the name of the manipulability measure.

◆ getReachableGrasps()

GraspSetPtr VirtualRobot::Manipulability::getReachableGrasps	(	GraspSetPtr	grasps,
		ManipulationObjectPtr	object
	)

Returns all reachable grasps that can be applied at the current position of object.

◆ getSelfDistConfig()

void VirtualRobot::Manipulability::getSelfDistConfig	(	bool &	storeConsiderSelfDist,
		RobotNodeSetPtr &	storeStatic,
		RobotNodeSetPtr &	storeDynamic
	)

Access self distance configuration.

◆ initSelfDistanceCheck()

void VirtualRobot::Manipulability::initSelfDistanceCheck	(	RobotNodeSetPtr	staticModel,
		RobotNodeSetPtr	dynamicModel
	)

Initializes the consideration of self distances (off by default). If enabled, the distance vector between static and dynamic rns is computed for every random pose and the quality measure is penalized according to that vector.

Parameters

staticModel	The static (not moving) part of the robot (e.g. torso and head)
staticModel	The dynamic (moving) part of the robot. Recommending to use the end effector instead of the complete arm, since the upperarm usually has a low distance to the rest of the body.

◆ measureCurrentPose()

float VirtualRobot::Manipulability::measureCurrentPose ( )

measureCurrentPose Uses internal quality measure to determine the quality value of the current tcp pose

Returns

◆ setManipulabilityMeasure()

void VirtualRobot::Manipulability::setManipulabilityMeasure ( PoseQualityMeasurementPtr m )

The manipulability measure can be defined here

◆ setMaxManipulability()

void VirtualRobot::Manipulability::setMaxManipulability ( float maximalManip )

All entries are scaled (during construction) according to this value. Higher manipulability values will result in an entry of 255

◆ smooth()

bool VirtualRobot::Manipulability::smooth ( unsigned int minNeighbors = 1 )

smooth the data

Field Documentation

◆ considerJL

bool VirtualRobot::Manipulability::considerJL

protected

◆ considerSelfDist

bool VirtualRobot::Manipulability::considerSelfDist

protected

◆ maxManip

float VirtualRobot::Manipulability::maxManip

protected

◆ measure

PoseQualityMeasurementPtr VirtualRobot::Manipulability::measure

protected

◆ measureName

std::string VirtualRobot::Manipulability::measureName

protected

◆ selfDistAlpha

float VirtualRobot::Manipulability::selfDistAlpha

protected

◆ selfDistBeta

float VirtualRobot::Manipulability::selfDistBeta

protected

◆ selfDistDynamic

RobotNodeSetPtr VirtualRobot::Manipulability::selfDistDynamic

protected

◆ selfDistStatic

RobotNodeSetPtr VirtualRobot::Manipulability::selfDistStatic

protected

Data Structures

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Manipulability()

Member Function Documentation

◆ addPose() [1/3]

◆ addPose() [2/3]

◆ addPose() [3/3]

◆ addRandomTCPPoses()

◆ analyseGrasp()

◆ analyseGrasps()

◆ checkForParameters()

◆ clone()

◆ consideringJointLimits()

◆ customInitialize()

◆ customLoad()

◆ customPrint()

◆ customSave()

◆ customStringRead()

◆ getCurrentManipulability()

◆ getManipulabilityAtPose()

◆ getManipulabilityMeasure()

◆ getMaxManipulability()

◆ getMeasureName()

◆ getReachableGrasps()

◆ getSelfDistConfig()

◆ initSelfDistanceCheck()

◆ measureCurrentPose()

◆ setManipulabilityMeasure()

◆ setMaxManipulability()

◆ smooth()

Field Documentation

◆ considerJL

◆ considerSelfDist

◆ maxManip

◆ measure

◆ measureName

◆ selfDistAlpha

◆ selfDistBeta

◆ selfDistDynamic

◆ selfDistStatic