Realizes the Singleton-Pattern, Provides Methods to solve Kinematic Problems (forward and inverse) More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/KinematicSolver.h>

Public Member Functions
PoseBasePtr	doForwardKinematic (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > jointAngles)
	FORWARD KINEMATIC & REACHABILITY///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////. More...

PoseBasePtr	doForwardKinematicRelative (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > jointAngles)
	doForwardKinematic executes the given jointAngles on the loaded Robot More...

bool	isReachable (VirtualRobot::RobotNodeSetPtr rns, PoseBasePtr globalPose, VirtualRobot::IKSolver::CartesianSelection cs)
	isReachable calculates whether the PoseBase pose is reachable by the loaded robot or not More...

std::vector< double >	solveIK (VirtualRobot::RobotNodeSetPtr kc, armarx::PoseBasePtr pose, VirtualRobot::IKSolver::CartesianSelection selection, int iterations)
	IK////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////. More...

std::vector< double >	solveIKRelative (VirtualRobot::RobotNodeSetPtr kc, armarx::PoseBasePtr framedPose, VirtualRobot::IKSolver::CartesianSelection selection)
	solveIK returns a random solution for an inverse Kinematic problem with no consideration of the current pose of the robot More...

std::vector< double >	solveRecursiveIK (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, PoseBasePtr globalDestination, VirtualRobot::IKSolver::CartesianSelection selection)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

std::vector< std::vector< double > >	solveRecursiveIK (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, std::vector< PoseBasePtr > globalDestinations, std::vector< VirtualRobot::IKSolver::CartesianSelection > selections)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

std::vector< std::vector< double > >	solveRecursiveIK (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, std::vector< PoseBasePtr > globalDestinations, VirtualRobot::IKSolver::CartesianSelection selection)

std::vector< float >	solveRecursiveIK (VirtualRobot::RobotNodeSetPtr kc, std::vector< float > startingPoint, PoseBasePtr globalDestination, VirtualRobot::IKSolver::CartesianSelection selection)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

std::vector< std::vector< double > >	solveRecursiveIKNoMotionPlanning (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, std::vector< PoseBasePtr > globalDestinations, std::vector< VirtualRobot::IKSolver::CartesianSelection > selections)

std::vector< double >	solveRecursiveIKRelative (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, PoseBasePtr framedDestination, VirtualRobot::IKSolver::CartesianSelection selection)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

std::vector< std::vector< double > >	solveRecursiveIKRelative (VirtualRobot::RobotNodeSetPtr kc, std::vector< double > startingPoint, std::vector< PoseBasePtr > framedDestinations, std::vector< VirtualRobot::IKSolver::CartesianSelection > selections)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

std::vector< float >	solveRecursiveIKRelative (VirtualRobot::RobotNodeSetPtr kc, std::vector< float > startingPoint, PoseBasePtr framedDestination, VirtualRobot::IKSolver::CartesianSelection selection)
	solveRecursiveIK solves IK based on a starting point and an End point based on one step More...

void	syncRobotPrx ()
	syncRobotPrx always updates the robotProxy with the jointAngles of the "real" robot More...

void	syncRobotPrx (VirtualRobot::RobotNodeSetPtr rns)
	syncRobotPrx updates the robotProxy with the jointAngles of the "real" when the rns is different to the current rns More...

Static Public Member Functions
static std::shared_ptr< KinematicSolver >	getInstance (VirtualRobot::ScenePtr scenario, VirtualRobot::RobotPtr robot)
	SINGLETON-FEATURES////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////. More...

static void	reset ()
	reset Destroys the current instance of KinematicSolver that a new one can be created via call of getInstance More...

Detailed Description

Realizes the Singleton-Pattern, Provides Methods to solve Kinematic Problems (forward and inverse)

Definition at line 51 of file KinematicSolver.h.

Member Function Documentation

◆ doForwardKinematic()

PoseBasePtr doForwardKinematic	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	jointAngles
	)

FORWARD KINEMATIC & REACHABILITY///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////.

doForwardKinematic executes the given jointAngles on the loaded Robot

Parameters

kc	the kinematic Chain on which the joint angles are executed on
jointAngles	the joint angles which the robot should have

Returns: a vector of joint angle configurations to reach destination 1,..., n in exactly the same order as the destinations

Definition at line 459 of file KinematicSolver.cpp.

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◆ doForwardKinematicRelative()

PoseBasePtr doForwardKinematicRelative	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	jointAngles
	)

doForwardKinematic executes the given jointAngles on the loaded Robot

Parameters

kc	the kinematic Chain on which the joint angles are executed on
jointAngles	the joint angles which the robot should have

Returns: a vector of joint angle configurations to reach destination 1,..., n in exactly the same order as the destinations

Definition at line 466 of file KinematicSolver.cpp.

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◆ getInstance()

KinematicSolverPtr getInstance	(	VirtualRobot::ScenePtr	scenario,
		VirtualRobot::RobotPtr	robot
	)

static

SINGLETON-FEATURES////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////.

getInstance returns an instance of a new KinematicSolver with the attributes scenario and robot if no KinematicSolver is initialized yet if a KinematicSolver has already been initialized the method returns that one (see Singleton-Pattern)

Parameters

scenario	the objects surronding the robot that have to be regarded when calculating an IKSolution
robot	the robot for which the Kinematic Solution is calculated

Returns: the single instance of KinematicSolver

Definition at line 92 of file KinematicSolver.cpp.

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◆ isReachable()

bool isReachable	(	VirtualRobot::RobotNodeSetPtr	rns,
		PoseBasePtr	globalPose,
		VirtualRobot::IKSolver::CartesianSelection	cs
	)

isReachable calculates whether the PoseBase pose is reachable by the loaded robot or not

Parameters

pose	the pose that should be reachable by the robot

Returns: returns true if the pose is reachable, false otherwise

ALTERNATIVE WITH REACHABILITY MAPS

Definition at line 474 of file KinematicSolver.cpp.

◆ reset()

void reset ( )

static

reset Destroys the current instance of KinematicSolver that a new one can be created via call of getInstance

Definition at line 103 of file KinematicSolver.cpp.

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◆ solveIK()

std::vector< double > solveIK	(	VirtualRobot::RobotNodeSetPtr	kc,
		armarx::PoseBasePtr	pose,
		VirtualRobot::IKSolver::CartesianSelection	selection,
		int	iterations
	)

IK////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////.

solveIK returns a random solution for an inverse Kinematic problem with no consideration of the current pose of the robot

Parameters

kc	the kinematic chain for which the IK solution is calculated
pose	the GLOBAL pose that should be reached by the tcp of the kinematic chain kc when the joint values of the solution are applied to the robot
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain

Definition at line 115 of file KinematicSolver.cpp.

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◆ solveIKRelative()

std::vector< double > solveIKRelative	(	VirtualRobot::RobotNodeSetPtr	kc,
		armarx::PoseBasePtr	framedPose,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

solveIK returns a random solution for an inverse Kinematic problem with no consideration of the current pose of the robot

Parameters

kc	the kinematic chain for which the IK solution is calculated
pose	the FRAMED POSE RELATIVE TO THE ROBOTS KINEMATIC ROOT that should be reached by the tcp of the kinematic chain kc when the joint values of the solution are applied to the robot
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain RELATIVE TO THE ROBOTS KINEMATIC ROOT

Definition at line 150 of file KinematicSolver.cpp.

◆ solveRecursiveIK() [1/4]

std::vector<double> solveRecursiveIK	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		PoseBasePtr	globalDestination,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the GLOBAL Pose that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ solveRecursiveIK() [2/4]

std::vector<std::vector<double> > solveRecursiveIK	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		std::vector< PoseBasePtr >	globalDestinations,
		std::vector< VirtualRobot::IKSolver::CartesianSelection >	selections
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the GLOBAL Pose that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ solveRecursiveIK() [3/4]

std::vector<std::vector<double> > solveRecursiveIK	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		std::vector< PoseBasePtr >	globalDestinations,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

◆ solveRecursiveIK() [4/4]

std::vector<float> solveRecursiveIK	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< float >	startingPoint,
		PoseBasePtr	globalDestination,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the GLOBAL Pose that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ solveRecursiveIKNoMotionPlanning()

std::vector< std::vector< double > > solveRecursiveIKNoMotionPlanning	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		std::vector< PoseBasePtr >	globalDestinations,
		std::vector< VirtualRobot::IKSolver::CartesianSelection >	selections
	)

Definition at line 379 of file KinematicSolver.cpp.

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◆ solveRecursiveIKRelative() [1/3]

std::vector<double> solveRecursiveIKRelative	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		PoseBasePtr	framedDestination,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the FRAMED POSE RELATIVE TO THE ROBOTS KINEMATIC ROOT that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ solveRecursiveIKRelative() [2/3]

std::vector<std::vector<double> > solveRecursiveIKRelative	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< double >	startingPoint,
		std::vector< PoseBasePtr >	framedDestinations,
		std::vector< VirtualRobot::IKSolver::CartesianSelection >	selections
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the FRAMED POSE RELATIVE TO THE ROBOTS KINEMATIC ROOT that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ solveRecursiveIKRelative() [3/3]

std::vector<float> solveRecursiveIKRelative	(	VirtualRobot::RobotNodeSetPtr	kc,
		std::vector< float >	startingPoint,
		PoseBasePtr	framedDestination,
		VirtualRobot::IKSolver::CartesianSelection	selection
	)

solveRecursiveIK solves IK based on a starting point and an End point based on one step

Parameters

kc	the selected kinematic chain, for which the IK Solution should be found
startingPoint	the jointAngle values of the starting Pose of the robot
destinations	the FRAMED POSE RELATIVE TO THE ROBOTS KINEMATIC ROOT that should be reached
selection	the attributes of the pose that are considered when solving the IK problem, e.g. position, orientation or all

Returns: an mostly random IK solution for the given PoseBase and kinematic Chain in form joint angle configuration

◆ syncRobotPrx() [1/2]

void syncRobotPrx ( )

syncRobotPrx always updates the robotProxy with the jointAngles of the "real" robot

Definition at line 505 of file KinematicSolver.cpp.

◆ syncRobotPrx() [2/2]

void syncRobotPrx ( VirtualRobot::RobotNodeSetPtr rns )

syncRobotPrx updates the robotProxy with the jointAngles of the "real" when the rns is different to the current rns

Parameters

rns	the newly selected rns

The documentation for this class was generated from the following files:

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/KinematicSolver.h
RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/KinematicSolver.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ doForwardKinematic()

◆ doForwardKinematicRelative()

◆ getInstance()

◆ isReachable()

◆ reset()

◆ solveIK()

◆ solveIKRelative()

◆ solveRecursiveIK() [1/4]

◆ solveRecursiveIK() [2/4]

◆ solveRecursiveIK() [3/4]

◆ solveRecursiveIK() [4/4]

◆ solveRecursiveIKNoMotionPlanning()

◆ solveRecursiveIKRelative() [1/3]

◆ solveRecursiveIKRelative() [2/3]

◆ solveRecursiveIKRelative() [3/3]

◆ syncRobotPrx() [1/2]

◆ syncRobotPrx() [2/2]