#include <RobotAPI/libraries/natik/NaturalIK.h>
Classes | |
| struct | ArmJoints |
| struct | Parameters |
| struct | SoechtingAngles |
| struct | SoechtingForwardPositions |
Detailed Description
The NaturalIK class.
Calculates natural looking IK solutions by
- Calculate Soechting angles
- Calculate ForwardKinematics with Soechting angles
- 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.
Definition at line 52 of file NaturalIK.h.
Constructor & Destructor Documentation
◆ NaturalIK()
| NaturalIK | ( | std::string | side, |
| Eigen::Vector3f | shoulderPos = Eigen::Vector3f::Zero(), | ||
| float | scale = 1 ) |
Definition at line 37 of file NaturalIK.cpp.
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() ) |
Definition at line 88 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ calculateIKpos()
| NaturalDiffIK::Result calculateIKpos | ( | const Eigen::Vector3f & | targetPos, |
| NaturalIK::ArmJoints | arm, | ||
| NaturalIK::Parameters | params = NaturalIK::Parameters() ) |
Definition at line 105 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ 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"
Definition at line 142 of file NaturalIK.cpp.
Here is the caller graph for this function:◆ forwardKinematics()
| NaturalIK::SoechtingForwardPositions forwardKinematics | ( | SoechtingAngles | sa | ) |
◆ getLowerArmLength()
| float getLowerArmLength | ( | ) | const |
Definition at line 245 of file NaturalIK.cpp.
◆ getScale()
| float getScale | ( | ) |
Definition at line 227 of file NaturalIK.cpp.
◆ getShoulderPos()
| Eigen::Vector3f getShoulderPos | ( | ) |
Definition at line 136 of file NaturalIK.cpp.
◆ getUpperArmLength()
| float getUpperArmLength | ( | ) | const |
Definition at line 233 of file NaturalIK.cpp.
◆ setLowerArmLength()
| void setLowerArmLength | ( | float | value | ) |
◆ setScale()
| void setScale | ( | float | scale | ) |
Definition at line 221 of file NaturalIK.cpp.
◆ setUpperArmLength()
| void setUpperArmLength | ( | float | value | ) |
◆ solveSoechtingIK()
| NaturalIK::SoechtingForwardPositions solveSoechtingIK | ( | const Eigen::Vector3f & | targetPos, |
| std::optional< float > | minElbowHeight = std::nullopt ) |
Definition at line 43 of file NaturalIK.cpp.
Here is the call graph for this function: Here is the caller graph for this function:The documentation for this class was generated from the following files:
- RobotAPI/libraries/natik/NaturalIK.h
- RobotAPI/libraries/natik/NaturalIK.cpp
