NaturalIK Class Reference

The NaturalIK class. More...

#include <RobotAPI/libraries/natik/NaturalIK.h>

Classes
struct	ArmJoints
struct	Parameters
struct	SoechtingAngles
struct	SoechtingForwardPositions

Public Member Functions
NaturalDiffIK::Result	calculateIK (const Eigen::Matrix4f &targetPose, ArmJoints arm, NaturalDiffIK::Mode setOri, NaturalIK::Parameters params=NaturalIK::Parameters())
NaturalDiffIK::Result	calculateIK (const Eigen::Matrix4f &targetPose, ArmJoints arm, NaturalIK::Parameters params=NaturalIK::Parameters())
NaturalDiffIK::Result	calculateIKpos (const Eigen::Vector3f &targetPos, ArmJoints arm, NaturalIK::Parameters params=NaturalIK::Parameters())
SoechtingAngles	CalculateSoechtingAngles (Eigen::Vector3f target)
	NaturalIK::CalculateSoechtingAngles.
SoechtingForwardPositions	forwardKinematics (SoechtingAngles sa)
float	getLowerArmLength () const
float	getScale ()
Eigen::Vector3f	getShoulderPos ()
float	getUpperArmLength () const
	NaturalIK (std::string side, Eigen::Vector3f shoulderPos=Eigen::Vector3f::Zero(), float scale=1)
void	setLowerArmLength (float value)
void	setScale (float scale)
void	setUpperArmLength (float value)
NaturalIK::SoechtingForwardPositions	solveSoechtingIK (const Eigen::Vector3f &targetPos, std::optional< float > minElbowHeight=std::nullopt)

Detailed Description

The NaturalIK class.

Calculates natural looking IK solutions by

1. Calculate Soechting angles
2. Calculate ForwardKinematics with Soechting angles
3. 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.

Constructor & Destructor Documentation

NaturalIK()

NaturalIK	(	std::string	side,
		Eigen::Vector3f	shoulderPos = Eigen::Vector3f::Zero(),
		float	scale = 1 )

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() )

calculateIKpos()

NaturalDiffIK::Result calculateIKpos	(	const Eigen::Vector3f &	targetPos,
		NaturalIK::ArmJoints	arm,
		NaturalIK::Parameters	params = NaturalIK::Parameters() )

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"

forwardKinematics()

NaturalIK::SoechtingForwardPositions forwardKinematics

(

SoechtingAngles

sa

)

getLowerArmLength()

float getLowerArmLength

(

)

const

getScale()

float getScale

(

)

getShoulderPos()

Eigen::Vector3f getShoulderPos

(

)

getUpperArmLength()

float getUpperArmLength

(

)

const

setLowerArmLength()

void setLowerArmLength

(

float

value

)

setScale()

void setScale

(

float

scale

)

setUpperArmLength()

void setUpperArmLength

(

float

value

)

solveSoechtingIK()

NaturalIK::SoechtingForwardPositions solveSoechtingIK	(	const Eigen::Vector3f &	targetPos,
		std::optional< float >	minElbowHeight = std::nullopt )

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

• RobotAPI/libraries/natik/NaturalIK.h
• RobotAPI/libraries/natik/NaturalIK.cpp