CompositeDiffIK Class Reference

#include <RobotAPI/libraries/diffik/CompositeDiffIK.h>

Classes
class	NullspaceGradient
class	NullspaceJointLimitAvoidance
class	NullspaceJointTarget
class	NullspaceTarget
struct	NullspaceTargetStep
struct	Parameters
struct	Result
struct	SolveState
class	Target
struct	TargetStep

Public Types
typedef std::shared_ptr< class NullspaceGradient >	NullspaceGradientPtr
typedef std::shared_ptr< class NullspaceJointLimitAvoidance >	NullspaceJointLimitAvoidancePtr
typedef std::shared_ptr< class NullspaceJointTarget >	NullspaceJointTargetPtr
typedef std::shared_ptr< class NullspaceTarget >	NullspaceTargetPtr
typedef std::shared_ptr< Target >	TargetPtr

Public Member Functions
void	addNullspaceGradient (const NullspaceGradientPtr &gradient)
NullspaceTargetPtr	addNullspacePositionTarget (const VirtualRobot::RobotNodePtr &tcp, const Eigen::Vector3f &target)
void	addTarget (const TargetPtr &target)
TargetPtr	addTarget (const VirtualRobot::RobotNodePtr &tcp, const Eigen::Matrix4f &target, VirtualRobot::IKSolver::CartesianSelection mode)
int	CartesianSelectionToSize (VirtualRobot::IKSolver::CartesianSelection mode)
	CompositeDiffIK (const VirtualRobot::RobotNodeSetPtr &rns)
Result	solve (Parameters params)
void	step (Parameters &params, SolveState &s, int stepNr)

Static Public Member Functions
static Eigen::MatrixXf	CalculateNullspaceLU (const Eigen::Matrix4f &jacobi)
static Eigen::MatrixXf	CalculateNullspaceSVD (const Eigen::Matrix4f &jacobi)
static Eigen::VectorXf	LimitInfNormTo (Eigen::VectorXf vec, float maxValue)

Member Typedef Documentation

NullspaceGradientPtr

typedef std::shared_ptr<class NullspaceGradient> NullspaceGradientPtr

NullspaceJointLimitAvoidancePtr

typedef std::shared_ptr<class NullspaceJointLimitAvoidance> NullspaceJointLimitAvoidancePtr

NullspaceJointTargetPtr

typedef std::shared_ptr<class NullspaceJointTarget> NullspaceJointTargetPtr

NullspaceTargetPtr

typedef std::shared_ptr<class NullspaceTarget> NullspaceTargetPtr

TargetPtr

typedef std::shared_ptr<Target> TargetPtr

Constructor & Destructor Documentation

CompositeDiffIK()

CompositeDiffIK

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

Member Function Documentation

addNullspaceGradient()

void addNullspaceGradient

(

const NullspaceGradientPtr &

gradient

)

addNullspacePositionTarget()

CompositeDiffIK::NullspaceTargetPtr addNullspacePositionTarget	(	const VirtualRobot::RobotNodePtr &	tcp,
		const Eigen::Vector3f &	target )

addTarget() [1/2]

void addTarget

(

const TargetPtr &

target

)

addTarget() [2/2]

CompositeDiffIK::TargetPtr addTarget	(	const VirtualRobot::RobotNodePtr &	tcp,
		const Eigen::Matrix4f &	target,
		VirtualRobot::IKSolver::CartesianSelection	mode )

CalculateNullspaceLU()

Eigen::MatrixXf CalculateNullspaceLU ( const Eigen::Matrix4f & jacobi )

static

V contains right singular vector and nullspace: V.shape: (cols,cols) singular vectors: V[:,0:rows] nullspace: V[:,rows:cols-rows]

CalculateNullspaceSVD()

Eigen::MatrixXf CalculateNullspaceSVD ( const Eigen::Matrix4f & jacobi )

static

CartesianSelectionToSize()

int CartesianSelectionToSize

(

VirtualRobot::IKSolver::CartesianSelection

mode

)

LimitInfNormTo()

Eigen::VectorXf LimitInfNormTo ( Eigen::VectorXf vec, float maxValue )

static

solve()

CompositeDiffIK::Result solve

(

Parameters

params

)

step()

void step	(	CompositeDiffIK::Parameters &	params,
		SolveState &	s,
		int	stepNr )

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

• RobotAPI/libraries/diffik/CompositeDiffIK.h
• RobotAPI/libraries/diffik/CompositeDiffIK.cpp