List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
EDifferentialIK Class Reference

#include <RobotAPI/components/units/TCPControlUnit.h>

+ Inheritance diagram for EDifferentialIK:

Public Types

typedef Eigen::VectorXf(EDifferentialIK::* ComputeFunction) (float)
 

Public Member Functions

void applyDOFWeightsToJacobian (Eigen::MatrixXf &Jacobian)
 
void applyTCPWeights (Eigen::MatrixXf &invJacobian)
 
void applyTCPWeights (VirtualRobot::RobotNodePtr tcp, Eigen::MatrixXf &partJacobian)
 
Eigen::MatrixXf calcFullJacobian ()
 
void clearGoals ()
 
Eigen::VectorXf computeStep (float stepSize) override
 
Eigen::VectorXf computeStepIndependently (float stepSize)
 
bool computeSteps (Eigen::VectorXf &resultJointDelta, float stepSize=1.f, float mininumChange=0.01f, int maxNStep=50, ComputeFunction computeFunction=&DifferentialIK::computeStep)
 
bool computeSteps (float stepSize=1.f, float mininumChange=0.01f, int maxNStep=50) override
 
 EDifferentialIK (VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr coordSystem=VirtualRobot::RobotNodePtr(), VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod=eSVD)
 
int getJacobianRows ()
 
VirtualRobot::RobotNodePtr getRefFrame ()
 
float getWeightedError ()
 
float getWeightedErrorPosition (VirtualRobot::SceneObjectPtr tcp)
 
void setDOFWeights (Eigen::VectorXf dofWeights)
 
void setGoal (const Eigen::Matrix4f &goal, VirtualRobot::RobotNodePtr tcp, VirtualRobot::IKSolver::CartesianSelection mode, float tolerancePosition, float toleranceRotation, Eigen::VectorXf tcpWeight)
 
void setRefFrame (VirtualRobot::RobotNodePtr coordSystem)
 
bool solveIK (float stepSize=1, float minChange=0.01f, int maxSteps=50, bool useAlternativeOnFail=false)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds.
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 

Protected Member Functions

bool adjustDOFWeightsToJointLimits (const Eigen::VectorXf &plannedJointDeltas)
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtr & getLogSender () const
 Retrieve log sender.
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Protected Attributes

Eigen::VectorXf dofWeights
 
std::map< VirtualRobot::SceneObjectPtr, Eigen::VectorXf > tcpWeights
 
Eigen::VectorXf tcpWeightVec
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 290 of file TCPControlUnit.h.

Member Typedef Documentation

◆ ComputeFunction

typedef Eigen::VectorXf(EDifferentialIK::* ComputeFunction) (float)

Definition at line 293 of file TCPControlUnit.h.

Constructor & Destructor Documentation

◆ EDifferentialIK()

EDifferentialIK ( VirtualRobot::RobotNodeSetPtr rns,
VirtualRobot::RobotNodePtr coordSystem = VirtualRobot::RobotNodePtr(),
VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod = eSVD )

Definition at line 683 of file TCPControlUnit.cpp.

Member Function Documentation

◆ adjustDOFWeightsToJointLimits()

bool adjustDOFWeightsToJointLimits ( const Eigen::VectorXf & plannedJointDeltas)
protected

Definition at line 1354 of file TCPControlUnit.cpp.

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◆ applyDOFWeightsToJacobian()

void applyDOFWeightsToJacobian ( Eigen::MatrixXf & Jacobian)

Definition at line 1170 of file TCPControlUnit.cpp.

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◆ applyTCPWeights() [1/2]

void applyTCPWeights ( Eigen::MatrixXf & invJacobian)

◆ applyTCPWeights() [2/2]

void applyTCPWeights ( VirtualRobot::RobotNodePtr tcp,
Eigen::MatrixXf & partJacobian )

◆ calcFullJacobian()

Eigen::MatrixXf calcFullJacobian ( )

Definition at line 691 of file TCPControlUnit.cpp.

◆ clearGoals()

void clearGoals ( )

Definition at line 725 of file TCPControlUnit.cpp.

◆ computeStep()

VectorXf computeStep ( float stepSize)
override

Definition at line 926 of file TCPControlUnit.cpp.

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◆ computeStepIndependently()

VectorXf computeStepIndependently ( float stepSize)

Definition at line 995 of file TCPControlUnit.cpp.

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◆ computeSteps() [1/2]

bool computeSteps ( Eigen::VectorXf & resultJointDelta,
float stepSize = 1.f,
float mininumChange = 0.01f,
int maxNStep = 50,
ComputeFunction computeFunction = &DifferentialIK::computeStep )

◆ computeSteps() [2/2]

bool computeSteps ( float stepSize = 1.f,
float mininumChange = 0.01f,
int maxNStep = 50 )
override

Definition at line 776 of file TCPControlUnit.cpp.

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◆ getJacobianRows()

int getJacobianRows ( )
inline

Definition at line 306 of file TCPControlUnit.h.

◆ getRefFrame()

VirtualRobot::RobotNodePtr getRefFrame ( )
inline

Definition at line 300 of file TCPControlUnit.h.

◆ getWeightedError()

float getWeightedError ( )

Definition at line 1287 of file TCPControlUnit.cpp.

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◆ getWeightedErrorPosition()

float getWeightedErrorPosition ( VirtualRobot::SceneObjectPtr tcp)

Definition at line 1303 of file TCPControlUnit.cpp.

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◆ setDOFWeights()

void setDOFWeights ( Eigen::VectorXf dofWeights)

Definition at line 770 of file TCPControlUnit.cpp.

◆ setGoal()

void setGoal ( const Eigen::Matrix4f & goal,
VirtualRobot::RobotNodePtr tcp,
VirtualRobot::IKSolver::CartesianSelection mode,
float tolerancePosition,
float toleranceRotation,
Eigen::VectorXf tcpWeight )

Definition at line 742 of file TCPControlUnit.cpp.

◆ setRefFrame()

void setRefFrame ( VirtualRobot::RobotNodePtr coordSystem)

Definition at line 736 of file TCPControlUnit.cpp.

◆ solveIK()

bool solveIK ( float stepSize = 1,
float minChange = 0.01f,
int maxSteps = 50,
bool useAlternativeOnFail = false )

Definition at line 1140 of file TCPControlUnit.cpp.

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Member Data Documentation

◆ dofWeights

Eigen::VectorXf dofWeights
protected

Definition at line 347 of file TCPControlUnit.h.

◆ tcpWeights

std::map<VirtualRobot::SceneObjectPtr, Eigen::VectorXf> tcpWeights
protected

Definition at line 348 of file TCPControlUnit.h.

◆ tcpWeightVec

Eigen::VectorXf tcpWeightVec
protected

Definition at line 349 of file TCPControlUnit.h.

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