KBMComponent.h File Reference

#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
#include <MemoryX/interface/components/KBMComponentInterface.h>
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
#include <cfloat>
#include <MemoryX/libraries/helpers/KinematicBezierMaps/kbm.h>

Classes
class	KBMComponent
	Wrapper for the KBM class. More...
class	KBMComponentPropertyDefinitions

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::KBMDifferentialIK

Functions
bool	applyProprioceptionLimits (Eigen::Map< memoryx::KBM::Vector > &solution, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	apply limits to solution and return true, if solution has been changed = solution was not in limits
memoryx::KBM::Vector	calculateJointDeltas (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &target, const memoryx::KBM::Vector &position, const memoryx::KBM::Vector &proprioception, float stepSizeFactor, float maxStepSize)
	calculateJointDeltas is in internal function called by solve
bool	checkProprioceptionLimits (const memoryx::KBM::Vector &solution, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	check if solution is within the limits
float	randomFloat (float LO, float HI)
	randomFloat creates a random float between LO and HI
memoryx::KBM::Vector	randomProprioception (const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	Creates a vector of random values between the limits.
bool	solve (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &targetPosition, const memoryx::KBM::Vector &currentPostion, const memoryx::KBM::Vector &currentProprioception, Eigen::Map< memoryx::KBM::Vector > &solution, float positionTolerance=5.0f, float minimumDelta=0.0f, bool requireImprovment=false, int maxSteps=50, float stepSizeFactor=0.2f, float maxStepSize=FLT_MAX)
	solves the inverse kinematics
bool	solveMany (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &targetPosition, const memoryx::KBM::Vector &currentPosition, const memoryx::KBM::Vector &currentProprioception, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits, Eigen::Map< memoryx::KBM::Vector > &solution, bool applyLimits=true, int maxSolves=25, float positionTolerance=5.0f, float minimumDelta=0.0f, bool requireImprovment=false, int maxSteps=50, float stepSizeFactor=0.2f, float maxStepSize=FLT_MAX)
	KBMDifferentialIK::solveMany runs solve many times.