VirtualRobot::PoseQualityManipulability Class Reference

Inheritance diagram for VirtualRobot::PoseQualityManipulability:

Public Types
enum	ManipulabilityIndexType { eMultiplySV, eMinMaxRatio }

Public Member Functions
	PoseQualityManipulability (VirtualRobot::RobotNodeSetPtr rns, ManipulabilityIndexType i=eMinMaxRatio)
	~PoseQualityManipulability ()
float	getPoseQuality () override
virtual float	getManipulability (ManipulabilityIndexType i)
float	getPoseQuality (const Eigen::VectorXf &direction) override
virtual float	getManipulability (const Eigen::VectorXf &direction, int considerFirstSV=-1)
virtual float	getManipulability (ManipulabilityIndexType i, int considerFirstSV)
Eigen::VectorXf	getSingularValues ()
Eigen::MatrixXf	getSingularVectorCartesian ()
virtual void	penalizeJointLimits (bool enable, float k=50.0f)
bool	consideringJointLimits () override
	Indicates if joint limits are considered. More...
PoseQualityMeasurementPtr	clone (RobotPtr newRobot) override
Public Member Functions inherited from VirtualRobot::PoseQualityMeasurement
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PoseQualityMeasurement (VirtualRobot::RobotNodeSetPtr rns)
	~PoseQualityMeasurement ()
void	setVerbose (bool v)
VirtualRobot::RobotNodeSetPtr	getRNS ()
std::string	getName ()
	A string that identifies the type of pose quality measure. More...
virtual void	setObstacleDistanceVector (const Eigen::Vector3f &directionSurfaceToObstance)
virtual void	disableObstacleDistance ()

Static Public Member Functions
static std::string	getTypeName ()

Protected Member Functions
float	getJointLimitPenalizationFactor ()

Protected Attributes
VirtualRobot::DifferentialIKPtr	jacobian
ManipulabilityIndexType	manipulabilityType
bool	penJointLimits
float	penJointLimits_k
float	penalizeRotationFactor
bool	convertMMtoM
	if set, the Jacobian is computed in [m], while assuming the kinematic definitions to be in [mm] More...
Protected Attributes inherited from VirtualRobot::PoseQualityMeasurement
std::string	name
VirtualRobot::RobotNodeSetPtr	rns
bool	considerObstacle
Eigen::Vector3f	obstacleDir
bool	verbose

Detailed Description

This measurement computes the Yoshikawa's manipulability index by computing the Singular value Decomposition (SVD) of the Jacobian. Two modes are offered: Either all singular values are multiplied or the ratio of minimum and maximum singular value is returned (also known as (inverted) Condition number).

Member Enumeration Documentation

ManipulabilityIndexType

enum VirtualRobot::PoseQualityManipulability::ManipulabilityIndexType

Enumerator
eMultiplySV
eMinMaxRatio

Constructor & Destructor Documentation

PoseQualityManipulability()

VirtualRobot::PoseQualityManipulability::PoseQualityManipulability	(	VirtualRobot::RobotNodeSetPtr	rns,
		ManipulabilityIndexType	i = eMinMaxRatio
	)

~PoseQualityManipulability()

VirtualRobot::PoseQualityManipulability::~PoseQualityManipulability ( )

default

Member Function Documentation

clone()

PoseQualityMeasurementPtr VirtualRobot::PoseQualityManipulability::clone ( RobotPtr  newRobot )

overridevirtual

Reimplemented from VirtualRobot::PoseQualityMeasurement.

consideringJointLimits()

bool VirtualRobot::PoseQualityManipulability::consideringJointLimits ( )

overridevirtual

Indicates if joint limits are considered.

Reimplemented from VirtualRobot::PoseQualityMeasurement.

getJointLimitPenalizationFactor()

float VirtualRobot::PoseQualityManipulability::getJointLimitPenalizationFactor ( )

protected

getManipulability() [1/3]

float VirtualRobot::PoseQualityManipulability::getManipulability ( ManipulabilityIndexType  i )

virtual

getManipulability() [2/3]

float VirtualRobot::PoseQualityManipulability::getManipulability ( const Eigen::VectorXf &  direction, int  considerFirstSV = -1  )

virtual

Reimplemented in VirtualRobot::PoseQualityExtendedManipulability.

getManipulability() [3/3]

float VirtualRobot::PoseQualityManipulability::getManipulability ( ManipulabilityIndexType  i, int  considerFirstSV  )

virtual

Considers the first considerFirstSV singular values and ignores any remaining entries in the sv vector. This can be useful, when constrained motions should be analyzed (e.g. 2d motions in 3d)

getPoseQuality() [1/2]

float VirtualRobot::PoseQualityManipulability::getPoseQuality ( )

overridevirtual

Returns the manipulability of the current configuration.

Reimplemented from VirtualRobot::PoseQualityMeasurement.

getPoseQuality() [2/2]

float VirtualRobot::PoseQualityManipulability::getPoseQuality ( const Eigen::VectorXf &  direction )

overridevirtual

The quality is determined for a given Cartesian direction. The current configuration of the corresponding RNS is analyzed and the quality is returned. See derived classes for details.

Parameters

direction

A 3d or 6d vector with the Cartesian direction to investigate.

Reimplemented from VirtualRobot::PoseQualityMeasurement.

getSingularValues()

Eigen::VectorXf VirtualRobot::PoseQualityManipulability::getSingularValues

(

)

Returns the singular values of the current Jacobian. The values are ordered, starting with the largest value.

getSingularVectorCartesian()

Eigen::MatrixXf VirtualRobot::PoseQualityManipulability::getSingularVectorCartesian

(

)

getTypeName()

std::string VirtualRobot::PoseQualityManipulability::getTypeName ( )

static

penalizeJointLimits()

void VirtualRobot::PoseQualityManipulability::penalizeJointLimits ( bool  enable, float  k = 50.0f  )

virtual

Field Documentation

convertMMtoM

bool VirtualRobot::PoseQualityManipulability::convertMMtoM

protected

if set, the Jacobian is computed in [m], while assuming the kinematic definitions to be in [mm]

jacobian

VirtualRobot::DifferentialIKPtr VirtualRobot::PoseQualityManipulability::jacobian

protected

manipulabilityType

ManipulabilityIndexType VirtualRobot::PoseQualityManipulability::manipulabilityType

protected

penalizeRotationFactor

float VirtualRobot::PoseQualityManipulability::penalizeRotationFactor

protected

penJointLimits

bool VirtualRobot::PoseQualityManipulability::penJointLimits

protected

penJointLimits_k

float VirtualRobot::PoseQualityManipulability::penJointLimits_k

protected