The HuboArmIK is based on the derivation of Hubo's arm IK by Matt Zucker. More...
Inheritance diagram for HuboArmIK:
Collaboration diagram for HuboArmIK:
Public Member Functions | |
| HuboArmIK (InverseKinematics *_ik, const std::string &baseLinkName, const Analytical::Properties &properties=Analytical::Properties()) | |
| std::unique_ptr< GradientMethod > | clone (InverseKinematics *_newIK) const override |
| Enable this GradientMethod to be cloned to a new IK module. | |
| const std::vector< Solution > & | computeSolutions (const Eigen::Isometry3d &_desiredBodyTf) override |
| Use this function to fill the entries of the mSolutions variable. More... | |
| const std::vector< std::size_t > & | getDofs () const override |
| Get a list of the DOFs that will be included in the entries of the solutions returned by getSolutions(). More... | |
 Public Member Functions inherited from dart::dynamics::InverseKinematics::Analytical | |
| Analytical (InverseKinematics *_ik, const std::string &_methodName, const Properties &_properties) | |
| Constructor. | |
| virtual | ~Analytical ()=default |
| Virtual destructor. | |
| const std::vector< Solution > & | getSolutions () |
| Get the solutions for this IK module, along with a tag indicating whether each solution is valid. More... | |
| const std::vector< Solution > & | getSolutions (const Eigen::Isometry3d &_desiredTf) |
| Get the solutions for this IK module, along with a tag indicating whether each solution is valid. More... | |
| void | computeGradient (const Eigen::Vector6d &_error, Eigen::VectorXd &_grad) override |
| You should not need to override this function. More... | |
| void | setPositions (const Eigen::VectorXd &_config) |
| Set the configuration of the DOFs. More... | |
| Eigen::VectorXd | getPositions () const |
| Get the configuration of the DOFs. More... | |
| void | setExtraDofUtilization (ExtraDofUtilization _utilization) |
| Set how you want extra DOFs to be utilized by the IK module. | |
| ExtraDofUtilization | getExtraDofUtilization () const |
| Get how extra DOFs are being utilized by the IK module. | |
| void | setExtraErrorLengthClamp (double _clamp) |
| Set how much to clamp the error vector that gets applied to extra DOFs. | |
| double | getExtraErrorLengthClamp () const |
| Get how much we will clamp the error vector that gets applied to extra DOFs. | |
| void | setQualityComparisonFunction (const QualityComparison &_func) |
| Set the function that will be used to compare the qualities of two solutions. More... | |
| void | resetQualityComparisonFunction () |
| Reset the quality comparison function to the default method. | |
| Properties | getAnalyticalProperties () const |
| Get the Properties for this Analytical class. | |
| void | constructDofMap () |
| Construct a mapping from the DOFs of getDofs() to their indices within the Node's list of dependent DOFs. More... | |
| Public Member Functions inherited from dart::dynamics::InverseKinematics::GradientMethod | |
| GradientMethod (InverseKinematics *_ik, const std::string &_methodName, const Properties &_properties) | |
| Constructor. | |
| virtual | ~GradientMethod ()=default |
| Virtual destructor. | |
| void | evalGradient (const Eigen::VectorXd &_q, Eigen::Map< Eigen::VectorXd > _grad) |
| This function is used to handle caching the gradient vector and interfacing with the solver. More... | |
| const std::string & | getMethodName () const |
| Get the name of this GradientMethod. | |
| void | clampGradient (Eigen::VectorXd &_grad) const |
| Clamp the gradient based on the clamp settings of this GradientMethod. | |
| void | setComponentWiseClamp (double _clamp=DefaultIKGradientComponentClamp) |
| Set the component-wise clamp for this GradientMethod. More... | |
| double | getComponentWiseClamp () const |
| Get the component-wise clamp for this GradientMethod. | |
| void | applyWeights (Eigen::VectorXd &_grad) const |
| Apply weights to the gradient based on the weight settings of this GradientMethod. More... | |
| void | setComponentWeights (const Eigen::VectorXd &_weights) |
| Set the weights that will be applied to each component of the gradient. More... | |
| const Eigen::VectorXd & | getComponentWeights () const |
| Get the weights of this GradientMethod. | |
| void | convertJacobianMethodOutputToGradient (Eigen::VectorXd &grad, const std::vector< std::size_t > &dofs) |
| Convert the gradient that gets generated by Jacobian methods into a gradient that can be used by a GradientDescentSolver. More... | |
| Properties | getGradientMethodProperties () const |
| Get the Properties of this GradientMethod. | |
| void | clearCache () |
| Clear the cache to force the gradient to be recomputed. More... | |
| InverseKinematics * | getIK () |
| Returns the IK module that this GradientMethod belongs to. | |
| const InverseKinematics * | getIK () const |
| Returns the IK module that this GradientMethod belongs to. | |
| Public Member Functions inherited from dart::common::Subject | |
| virtual | ~Subject () |
| Destructor will notify all Observers that it is destructing. | |
Public Attributes | |
| const double | zeroSize = 1e-8 |
Protected Member Functions | |
| void | configure () const |
| Protected Member Functions inherited from dart::dynamics::InverseKinematics::Analytical | |
| virtual void | addExtraDofGradient (Eigen::VectorXd &grad, const Eigen::Vector6d &error, ExtraDofUtilization utilization) |
| This function will compute a gradient which utilizes the extra DOFs that go unused by the Analytical solution and then it will add the components of that gradient to the output parameter: grad. More... | |
| void | checkSolutionJointLimits () |
| Go through the mSolutions vector and tag entries with LIMIT_VIOLATED if any components of their configuration are outside of their position limits. More... | |
| Protected Member Functions inherited from dart::common::Subject | |
| void | sendDestructionNotification () const |
| Send a destruction notification to all Observers. More... | |
| void | addObserver (Observer *_observer) const |
| Add an Observer to the list of Observers. | |
| void | removeObserver (Observer *_observer) const |
| Remove an Observer from the list of Observers. | |
Protected Attributes | |
| bool | configured |
| Eigen::Isometry3d | shoulderTf |
| Eigen::Isometry3d | wristTfInv |
| Eigen::Isometry3d | mNodeOffsetTfInv |
| double | L3 |
| double | L4 |
| double | L5 |
| Eigen::Matrix< int, 8, 3 > | alterantives |
| std::vector< std::size_t > | mDofs |
| std::string | mBaseLinkName |
| WeakBodyNodePtr | mBaseLink |
| JacobianNode * | mWristEnd |
| Protected Attributes inherited from dart::dynamics::InverseKinematics::Analytical | |
| std::vector< Solution > | mSolutions |
| Vector of solutions. | |
| UniqueProperties | mAnalyticalP |
| Properties for this Analytical IK solver. | |
| Protected Attributes inherited from dart::dynamics::InverseKinematics::GradientMethod | |
| common::sub_ptr< InverseKinematics > | mIK |
| The IK module that this GradientMethod belongs to. | |
| std::string | mMethodName |
| The name of this method. | |
| Eigen::VectorXd | mLastPositions |
| The last positions that was passed to this GradientMethod. | |
| Eigen::VectorXd | mLastGradient |
| The last gradient that was computed by this GradientMethod. | |
| Properties | mGradientP |
| Properties for this GradientMethod. | |
| Protected Attributes inherited from dart::common::Subject | |
| std::set< Observer * > | mObservers |
| List of current Observers. | |
Additional Inherited Members | |
| Public Types inherited from dart::dynamics::InverseKinematics::Analytical | |
| enum | Validity_t { VALID = 0, OUT_OF_REACH = 1 << 0, LIMIT_VIOLATED = 1 << 1 } |
| Bitwise enumerations that are used to describe some properties of each solution produced by the analytical IK. More... | |
| enum | ExtraDofUtilization { UNUSED = 0, PRE_ANALYTICAL, POST_ANALYTICAL, PRE_AND_POST_ANALYTICAL } |
| If there are extra DOFs in the IK module which your Analytical solver implementation does not make use of, those DOFs can be used to supplement the analytical solver using Jacobian transpose iteration. More... | |
| typedef std::function< bool(const Eigen::VectorXd &_better, const Eigen::VectorXd &_worse, const InverseKinematics *_ik)> | QualityComparison |
Detailed Description
The HuboArmIK is based on the derivation of Hubo's arm IK by Matt Zucker.
Member Function Documentation
◆ computeSolutions()
|
inlineoverridevirtual |
Use this function to fill the entries of the mSolutions variable.
Be sure to clear the mSolutions vector at the start, and to also return the mSolutions vector at the end. Note that you are not expected to evaluate any of the solutions for their quality. However, you should set the Solution::mValidity flag to OUT_OF_REACH for each solution that does not actually reach the desired transform, and you should call checkSolutionJointLimits() and the end of the function, which will set the LIMIT_VIOLATED flags of any configurations that are outside of the position limits.
Implements dart::dynamics::InverseKinematics::Analytical.
◆ getDofs()
|
inlineoverridevirtual |
Get a list of the DOFs that will be included in the entries of the solutions returned by getSolutions().
Ideally, this should match up with the DOFs being used by the InverseKinematics module, but this might not always be possible, so this function ensures that solutions can be interpreted correctly.
Implements dart::dynamics::InverseKinematics::Analytical.
The documentation for this class was generated from the following file:
- examples/hubo_puppet/main.cpp
