#include <RobotComponents/components/RobotIK/RobotIK.h>

Inheritance diagram for RobotIK:

Public Member Functions
NameValueMap	computeCoMIK (const std::string &robotNodeSetJoints, const CoMIKDescriptor &desc, const Ice::Current &=Ice::emptyCurrent) override
	Computes an IK solution for the given robot joints such that the center of mass lies above the given point. More...

ExtendedIKResult	computeExtendedIKGlobalPose (const std::string &robotNodeSetName, const PoseBasePtr &tcpPose, armarx::CartesianSelection cs, const Ice::Current &=Ice::emptyCurrent) override
	Computes a single IK solution, error and reachability for the given robot node set and desired global TCP pose. More...

NameValueMap	computeHierarchicalDeltaIK (const std::string &robotNodeSet, const IKTasks &iktasks, const CoMIKDescriptor &comIK, float stepSize, bool avoidJointLimits, bool enableCenterOfMass, const Ice::Current &=Ice::emptyCurrent) override
	Computes a configuration gradient in order to solve several tasks/constraints simultaneously. More...

NameValueMap	computeIKFramedPose (const std::string &robotNodeSetName, const FramedPoseBasePtr &tcpPose, armarx::CartesianSelection cs, const Ice::Current &=Ice::emptyCurrent) override
	Computes a single IK solution for the given robot node set and desired TCP pose. More...

NameValueMap	computeIKGlobalPose (const std::string &robotNodeSetName, const PoseBasePtr &tcpPose, armarx::CartesianSelection cs, const Ice::Current &=Ice::emptyCurrent) override
	Computes a single IK solution for the given robot node set and desired global TCP pose. More...

PropertyDefinitionsPtr	createPropertyDefinitions () override
	Create an instance of RobotIKPropertyDefinitions. More...

bool	createReachabilitySpace (const std::string &chainName, const std::string &coordinateSystem, float stepTranslation, float stepRotation, const WorkspaceBounds &minBounds, const WorkspaceBounds &maxBounds, int numSamples, const Ice::Current &=Ice::emptyCurrent) override
	Creates a new reachability space for the given robot node set. More...

bool	defineRobotNodeSet (const std::string &name, const NodeNameList &nodes, const std::string &tcpName, const std::string &rootNode, const Ice::Current &=Ice::emptyCurrent) override
	Defines a new robot node set. More...

std::string	getDefaultName () const override
	Retrieve default name of component. More...

virtual std::string	getRobotFilename (const Ice::Current &) const

bool	hasReachabilitySpace (const std::string &chainName, const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether this component has a reachability space for the given robot node set. More...

bool	isFramedPoseReachable (const std::string &chainName, const FramedPoseBasePtr &tcpPose, const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether a given framed pose is currently reachable by the TCP of the given robot node set. More...

bool	isPoseReachable (const std::string &chainName, const PoseBasePtr &tcpPose, const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether a given global pose is currently reachable by the TCP of the given robot node set. More...

bool	loadReachabilitySpace (const std::string &filename, const Ice::Current &=Ice::emptyCurrent) override
	Loads the reachability space from the given file. More...

bool	saveReachabilitySpace (const std::string &robotNodeSet, const std::string &filename, const Ice::Current &=Ice::emptyCurrent) const override
	Saves a previously created reachability space of the given robot node set. More...

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Load and create a VirtualRobot::Robot instance from the RobotFileName property. More...

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	onExitComponent ()
	Hook for subclass. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Refer to RobotIK.

Definition at line 117 of file RobotIK.h.

Member Function Documentation

◆ computeCoMIK()

NameValueMap computeCoMIK	(	const std::string &	robotNodeSetJoints,
		const CoMIKDescriptor &	desc,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Computes an IK solution for the given robot joints such that the center of mass lies above the given point.

Parameters

robotNodeSetJoints	Name of the robot node set that contains the joints you wish to compute the IK for.
comIK	A center of mass description. Note that the priority field is relevant for this function as there is only a single CoM of descriptor.

Returns: The ik-solution. Returns an empty vector if there is no solution.

Definition at line 168 of file RobotIK.cpp.

◆ computeExtendedIKGlobalPose()

ExtendedIKResult computeExtendedIKGlobalPose	(	const std::string &	robotNodeSetName,
		const PoseBasePtr &	tcpPose,
		armarx::CartesianSelection	cs,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Computes a single IK solution, error and reachability for the given robot node set and desired global TCP pose.

The TCP pose is assumed to be in the global frame. The CartesianSelection parameter defines which part of the target pose should be reached.

Parameters

robotNodeSetName	The name of a robot node set (robot node set) that is either stored within the robot model or has been defined via defineRobotNodeSet.
tcpPose	The global target pose for the TCP.
cs	Specifies which part of the pose needs to be reached by the IK, e.g. the position only, the orientation only or all.

Returns: A map that maps each joint name to its value in the found IK solution, the reachability and computational error.

Definition at line 159 of file RobotIK.cpp.

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◆ computeHierarchicalDeltaIK()

NameValueMap computeHierarchicalDeltaIK	(	const std::string &	robotNodeSet,
		const IKTasks &	iktasks,
		const CoMIKDescriptor &	comIK,
		float	stepSize,
		bool	avoidJointLimits,
		bool	enableCenterOfMass,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Computes a configuration gradient in order to solve several tasks/constraints simultaneously.

This function allows you to use the HierarchicalIK solver provided by Simox. It computes a configuration gradient for the given robot node set that minimizes the workspace errors for multiple tasks simultaneously. You can specify IK tasks, a center of mass task and a joint limit avoidance task. For details for the different type of tasks, see the parameter description. You must define a priority for each task. The task with maximal priority is the first task to be solved. Each subsequent task is then solved within the null space of the previous task. Note that this function returns a gradient and NOT an absolute IK solution. The gradient is computed on the current configuration of the robot. < >. The gradient is computed from the current robot configuration.

See @url http://simox.sourceforge.net/documentation/class_virtual_robot_1_1_hierarchical_i_k.html and @url http://sourceforge.net/p/simox/wiki/VirtualRobot/#hierarchical-ik-solving for more information.

Parameters

robotNodeSet The robot node set (e.g. kinematic tree) you wish to compute the gradient for.

diffIKs A list of IK tasks. Each IK task specifies a TCP and a desired pose for this TCP.

comIK A center of mass tasks. Defines where the center should be and its priority. Is only used if the CoM-task is enabled.

stepSize

avoidJointLimits Set whether or not to avoid joint limits.

enableCenterOfMass Set whether or not to adjust the center of mass.

Returns
A configuration gradient...

Definition at line 213 of file RobotIK.cpp.

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◆ computeIKFramedPose()

NameValueMap computeIKFramedPose	(	const std::string &	robotNodeSetName,
		const FramedPoseBasePtr &	tcpPose,
		armarx::CartesianSelection	cs,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Computes a single IK solution for the given robot node set and desired TCP pose.

The TCP pose can be defined in any frame and is converted internally to a global pose according to the current robot state. The CartesianSelection parameter defines which part of the target pose should be reached.

Parameters

robotNodeSetName	The name of a robot node set (robot node set) that is either stored within the robot model or has been defined via defineRobotNodeSet.
tcpPose	The framed target pose for the TCP.
cs	Specifies which part of the pose needs to be reached by the IK, e.g. the position only, the orientation only or all.

Returns: A map that maps each joint name to its value in the found IK solution.

Definition at line 142 of file RobotIK.cpp.

◆ computeIKGlobalPose()

NameValueMap computeIKGlobalPose	(	const std::string &	robotNodeSetName,
		const PoseBasePtr &	tcpPose,
		armarx::CartesianSelection	cs,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Computes a single IK solution for the given robot node set and desired global TCP pose.

The TCP pose is assumed to be in the global frame. The CartesianSelection parameter defines which part of the target pose should be reached.

Parameters

robotNodeSetName	The name of a robot node set (robot node set) that is either stored within the robot model or has been defined via defineRobotNodeSet.
tcpPose	The global target pose for the TCP.
cs	Specifies which part of the pose needs to be reached by the IK, e.g. the position only, the orientation only or all.

Returns: A map that maps each joint name to its value in the found IK solution.

Definition at line 150 of file RobotIK.cpp.

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◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

Create an instance of RobotIKPropertyDefinitions.

Reimplemented from Component.

Definition at line 136 of file RobotIK.cpp.

◆ createReachabilitySpace()

bool createReachabilitySpace	(	const std::string &	chainName,
		const std::string &	coordinateSystem,
		float	stepTranslation,
		float	stepRotation,
		const WorkspaceBounds &	minBounds,
		const WorkspaceBounds &	maxBounds,
		int	numSamples,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Creates a new reachability space for the given robot node set.

If there is no reachability space for the given robot node set yet, a new one is created. This may take some time. The function returns true iff a reachability space for the given robot node set exists after execution of this function.

Parameters

chainName	The name of a defined robot node set. This can be either a robot node set that is defined in the robot model or a robot node set that has been manually defined calling defineRobotNodeSet.
coordinateSystem	The name of the robot node in whose coordinate system the reachability space shall be defined in. If you wish to choose the global coordinate system, pass an empty string. Note, however, that any reachability space defined in the global coordinate system gets invalidated once the robot moves.
stepTranslation	The extend of a voxel dimension in translational dimensions (x,y,z) [mm]
stepRotation	The extend of a voxel dimension in rotational dimensions (roll,pitch,yaw) [rad]
minBounds	The minimum workspace poses (x,y,z,ro,pi,ya) given in the base node's coordinate system [mm and rad]
maxBounds	The maximum workspace poses (x,y,z,ro,pi,ya) given in base node's coordinate system [mm and rad]
numSamples	The number of tcp samples to take to create the reachability space (e.g 1000000)

Returns: True iff the a reachability space for the given robot node set is available after execution of this function. False in case of a failure, e.g. there is no chain with the given name.

Definition at line 306 of file RobotIK.cpp.

◆ defineRobotNodeSet()

bool defineRobotNodeSet	(	const std::string &	name,
		const NodeNameList &	nodes,
		const std::string &	tcpName,
		const std::string &	rootNode,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Defines a new robot node set.

Define a new robot node set with the given name that consists out of the given list of nodes with given TCP and root frame. Iff the chain is successfully added or already exists, <it>true</it> is returned.

Parameters

name	The name of the robot node set.
nodes	The list of robot nodes that make up the robot node set.
tcpName	The name of the TCP node.
rootNode	The name of the kinematic root.

Returns: True, iff chain was added or already exists. False, iff a different chain with similar name already exists.

Definition at line 350 of file RobotIK.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 133 of file RobotIK.h.

◆ getRobotFilename()

std::string getRobotFilename ( const Ice::Current & ) const

virtual

Returns: the robot xml filename as specified in the configuration

Definition at line 398 of file RobotIK.cpp.

◆ hasReachabilitySpace()

bool hasReachabilitySpace	(	const std::string &	chainName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Returns whether this component has a reachability space for the given robot node set.

True if there is a reachability space available, else false.

Parameters

chainName Name of the robot node set.

Returns: True if there is a reachability space available, else false.

Definition at line 403 of file RobotIK.cpp.

◆ isFramedPoseReachable()

bool isFramedPoseReachable	(	const std::string &	chainName,
		const FramedPoseBasePtr &	tcpPose,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Returns whether a given framed pose is currently reachable by the TCP of the given robot node set.

To determine whether a pose is reachable a reachability space for the given robot node set is required. If no such space exists, the function returns <it>false<\it>. Call createReachabilitySpace first to ensure there is such a space.

Parameters

chainName	A name of a robot node set either defined in the robot model or previously defined via defineRobotNodeSet.
framedPose	A framed pose to check for reachability. The pose is transformed into a global pose using the current robot state.

Returns: True, if the pose is reachable by the TCP of the given chain. False, if it is not reachable or there is no reachability space for the given chain available.

Definition at line 409 of file RobotIK.cpp.

◆ isPoseReachable()

bool isPoseReachable	(	const std::string &	chainName,
		const PoseBasePtr &	tcpPose,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Returns whether a given global pose is currently reachable by the TCP of the given robot node set.

To determine whether a pose is reachable a reachability space for the given robot node set is required. If no such space exists, the function returns <it>false<\it>. Call createReachabilitySpace first to ensure there is such a space.

Parameters

chainName	A name of a robot node set either defined in the robot model or previously defined via defineRobotNodeSet.
pose	A global pose to check for reachability.

Returns: True, if the pose is reachable by the TCP of the given chain. False, if it is not reachable or there is no reachability space for the given chain available.

Definition at line 414 of file RobotIK.cpp.

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◆ loadReachabilitySpace()

bool loadReachabilitySpace	(	const std::string &	filename,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Loads the reachability space from the given file.

If loading the reachability space succeeds, the reachability space is ready to be used after this function terminates. A reachability space can only be loaded if there is no reachability space for the respective robot node set yet.

Parameters

filename Binary file containing a reachability space. Ensure that the path is valid and accessible from where this component is running.

Returns: True iff loading the reachability space was successful.

Definition at line 420 of file RobotIK.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 113 of file RobotIK.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

Definition at line 132 of file RobotIK.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

Load and create a VirtualRobot::Robot instance from the RobotFileName property.

Implements ManagedIceObject.

Definition at line 61 of file RobotIK.cpp.

◆ saveReachabilitySpace()

bool saveReachabilitySpace	(	const std::string &	robotNodeSet,
		const std::string &	filename,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Saves a previously created reachability space of the given robot node set.

A reachability space for a robot node set can only be saved, if actually is one. You can check whether a reachability space is available by calling hasReachabilitySpace(robotNodeSet).

Parameters

robotNodeSet	The robot node set for which you wish to save the reachability space.
filename	The filename if the file(must be an accessible path for this component) you wish to save the space in.

Returns: True iff saving was successful.

Definition at line 483 of file RobotIK.cpp.

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

RobotComponents/components/RobotIK/RobotIK.h
RobotComponents/components/RobotIK/RobotIK.cpp

robotNodeSet	The robot node set (e.g. kinematic tree) you wish to compute the gradient for.
diffIKs	A list of IK tasks. Each IK task specifies a TCP and a desired pose for this TCP.
comIK	A center of mass tasks. Defines where the center should be and its priority. Is only used if the CoM-task is enabled.
stepSize
avoidJointLimits	Set whether or not to avoid joint limits.
enableCenterOfMass	Set whether or not to adjust the center of mass.

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeCoMIK()

◆ computeExtendedIKGlobalPose()

◆ computeHierarchicalDeltaIK()

◆ computeIKFramedPose()

◆ computeIKGlobalPose()

◆ createPropertyDefinitions()

◆ createReachabilitySpace()

◆ defineRobotNodeSet()

◆ getDefaultName()

◆ getRobotFilename()

◆ hasReachabilitySpace()

◆ isFramedPoseReachable()

◆ isPoseReachable()

◆ loadReachabilitySpace()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onInitComponent()

◆ saveReachabilitySpace()