#include <RobotAPI/libraries/natik/NaturalIK.h>
Classes | |
| struct | ArmJoints |
| struct | Parameters |
| struct | SoechtingAngles |
| struct | SoechtingForwardPositions |
Detailed Description
The NaturalIK class.
Calculates natural looking IK solutions by
- Calculate Soechting angles
- Calculate ForwardKinematics with Soechting angles
- Use calculated elbow position as a nullspace target for the robot's elbow during diffik
WARNING: Only works if robot model is facing forward in Y-direction (like ARMAR-III, ARMAR-IV, ARMAR-6) WARNING2: Soechting model is not valid for all targets. However, elbow position seems to extrapolate fine.
Definition at line 49 of file NaturalIK.h.
Constructor & Destructor Documentation
◆ NaturalIK()
| NaturalIK | ( | std::string | side, |
| Eigen::Vector3f | shoulderPos = Eigen::Vector3f::Zero(), |
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| float | scale = 1 |
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| ) |
Definition at line 33 of file NaturalIK.cpp.
Member Function Documentation
◆ calculateIK() [1/2]
| NaturalDiffIK::Result calculateIK | ( | const Eigen::Matrix4f & | targetPose, |
| NaturalIK::ArmJoints | arm, | ||
| NaturalDiffIK::Mode | setOri, | ||
| NaturalIK::Parameters | params = NaturalIK::Parameters() |
||
| ) |
◆ calculateIK() [2/2]
| NaturalDiffIK::Result calculateIK | ( | const Eigen::Matrix4f & | targetPose, |
| ArmJoints | arm, | ||
| NaturalIK::Parameters | params = NaturalIK::Parameters() |
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| ) |
Definition at line 84 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ calculateIKpos()
| NaturalDiffIK::Result calculateIKpos | ( | const Eigen::Vector3f & | targetPos, |
| NaturalIK::ArmJoints | arm, | ||
| NaturalIK::Parameters | params = NaturalIK::Parameters() |
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| ) |
Definition at line 91 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ CalculateSoechtingAngles()
| NaturalIK::SoechtingAngles CalculateSoechtingAngles | ( | Eigen::Vector3f | target | ) |
NaturalIK::CalculateSoechtingAngles.
- Parameters
-
target Pointing target in mm, relative to the soulder position. X: right, Y: forward, Z: up side Left or Right scale scale factor to match the robots arm length to the human arm length
- Returns
- Angles described in Soechting and Flanders "Errors in Pointing are Due to Approximations in Sensorimotor Transformations"
Definition at line 112 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ forwardKinematics()
| NaturalIK::SoechtingForwardPositions forwardKinematics | ( | SoechtingAngles | sa | ) |
◆ getLowerArmLength()
| float getLowerArmLength | ( | ) | const |
Definition at line 209 of file NaturalIK.cpp.
◆ getScale()
| float getScale | ( | ) |
Definition at line 194 of file NaturalIK.cpp.
◆ getShoulderPos()
| Eigen::Vector3f getShoulderPos | ( | ) |
Definition at line 106 of file NaturalIK.cpp.
◆ getUpperArmLength()
| float getUpperArmLength | ( | ) | const |
Definition at line 199 of file NaturalIK.cpp.
◆ setLowerArmLength()
| void setLowerArmLength | ( | float | value | ) |
Definition at line 214 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ setScale()
| void setScale | ( | float | scale | ) |
Definition at line 189 of file NaturalIK.cpp.
◆ setUpperArmLength()
| void setUpperArmLength | ( | float | value | ) |
Definition at line 204 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ solveSoechtingIK()
| NaturalIK::SoechtingForwardPositions solveSoechtingIK | ( | const Eigen::Vector3f & | targetPos, |
| std::optional< float > | minElbowHeight = std::nullopt |
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| ) |
Definition at line 39 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:The documentation for this class was generated from the following files:
- RobotAPI/libraries/natik/NaturalIK.h
- RobotAPI/libraries/natik/NaturalIK.cpp
