armarx::KBMDifferentialIK Namespace Reference

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 More...
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 More...
bool	checkProprioceptionLimits (const memoryx::KBM::Vector &solution, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	check if solution is within the limits More...
float	randomFloat (float LO, float HI)
	randomFloat creates a random float between LO and HI More...
memoryx::KBM::Vector	randomProprioception (const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	Creates a vector of random values between the limits. More...
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 More...
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. More...

Function Documentation

applyProprioceptionLimits()

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

Definition at line 1203 of file KBMComponent.cpp.

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calculateJointDeltas()

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

Definition at line 1102 of file KBMComponent.cpp.

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checkProprioceptionLimits()

bool checkProprioceptionLimits	(	const memoryx::KBM::Vector &	solution,
		const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits
	)

check if solution is within the limits

Definition at line 1165 of file KBMComponent.cpp.

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randomFloat()

float randomFloat	(	float	LO,
		float	HI
	)

randomFloat creates a random float between LO and HI

Definition at line 1096 of file KBMComponent.cpp.

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randomProprioception()

memoryx::KBM::Vector randomProprioception	(	const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits
	)

Creates a vector of random values between the limits.

Definition at line 1143 of file KBMComponent.cpp.

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solve()

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

Parameters

kbm	the learned KBM
targetPosition	the target position
currentPosition	the current position
currentProprioception	the current proprioception
solution	will contain the joint values that solve the inverse kinematics

Returns

true, if a good approximation has been found, false otherwise

Definition at line 1402 of file KBMComponent.cpp.

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solveMany()

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.

Parameters

kbm
targetPosition
currentProprioception
lowerProprioceptionLimits
upperProprioceptionLimits
solution
maxSolves	maximum number of times solve() should be called
positionTolerance
minimumDelta
requireImprovment
maxSteps
stepSizeFactor
maxStepSize

Returns

Definition at line 1249 of file KBMComponent.cpp.

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