kbm.h File Reference
#include <iostream>
#include <vector>
#include <ostream>
#include <Eigen/Eigen>
#include <Eigen/QR>
#include <memory>
#include <queue>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/KinematicChain.h>
#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
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Go to the source code of this file.

Data Structures

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...


 VirtualRobot headers.
 Namespace for algorithms related to solving the inverse kinematics.
 Where the model representation for a Body Schema (especially the Kinematic B´ezier Maps) reside.
 Namespace where the Partial Least Squares (PLS-1) solver is defined in.


#define USE_SIMOX


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


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...

Macro Definition Documentation



Definition at line 32 of file kbm.h.



Definition at line 30 of file kbm.h.


#define USE_SIMOX

Definition at line 21 of file kbm.h.