kbm.h File Reference
#include <iostream>#include <memory>#include <ostream>#include <queue>#include <vector>#include <Eigen/Eigen>#include <Eigen/QR>#include <VirtualRobot/KinematicChain.h>#include <VirtualRobot/Nodes/RobotNode.h>#include <VirtualRobot/Nodes/RobotNodeRevolute.h>#include <VirtualRobot/Robot.h>#include <VirtualRobot/VirtualRobotException.h>
Include dependency graph for kbm.h: This graph shows which files directly or indirectly include this file:Go to the source code of this file.
Classes | |
| class | GlobalIKBase |
| struct | GlobalIKBase::Solution |
| class | GlobalIKExtensive |
| Finds all solutions to the Global IK. More... | |
| class | GlobalIKSemiBreadth |
| Expands all nets until a resolution has been reached, then search only for a single solution. More... | |
| struct | GraphNode |
| struct | Solution |
| class | KBM |
| The Kinematic B\'ezier Maps. More... | |
| struct | KBM::ErrorValuesType |
| Return type of the evaluation (KBM::getErrors()) function providing insight in the statistics of the prediction error. More... | |
Namespaces | |
| memoryx | |
| VirtualRobot headers. | |
| memoryx::KBM | |
| memoryx::KBM::Inverse | |
| Namespace for algorithms related to solving the inverse kinematics. | |
| memoryx::KBM::Models | |
| Where the model representation for a Body Schema (especially the Kinematic B´ezier Maps) reside. | |
| memoryx::KBM::PLS | |
| Namespace where the Partial Least Squares (PLS-1) solver is defined in. | |
Macros | |
| #define | KBM_IMPORT_EXPORT |
| #define | KBM_USE_DOUBLE_PRECISION |
| #define | USE_SIMOX |
Typedefs | |
| using | KBM_ptr = std::shared_ptr< KBM > |
| using | Matrix = Eigen::MatrixXd |
| using | Matrix4 = Eigen::Matrix4d |
| using | Real = double |
| Type definition of the underlying Realing point type. More... | |
| using | SolutionSet = std::vector< Solution > |
| Return type of the global inverse kinematics solvers. More... | |
| using | Vector = Eigen::VectorXd |
| using | Vector3 = Eigen::Vector3d |
Functions | |
| Matrix KBM_IMPORT_EXPORT | solve (const Matrix &input, const Matrix output, Real threshold) |
| Solves a linear system of equations using the partial least squares algorithm. More... | |
| SolutionSet | solveGlobalIK (KBM::Models::KBM_ptr kbm, const Vector &lower, const Vector &upper, Real resolution=M_PI/90.0f) |
| Algorithm to find the global solution to the inverse kinematics based on the KBM structure. More... | |
