Robot With External Positioner Inverse kinematic implementation. More...

#include <rep_inv_kin.h>

Inheritance diagram for tesseract_kinematics::REPInvKin:

Collaboration diagram for tesseract_kinematics::REPInvKin:

[legend]

Public Types
using	Ptr = std::shared_ptr< REPInvKin >

using	ConstPtr = std::shared_ptr< const REPInvKin >

using	UPtr = std::unique_ptr< REPInvKin >

using	ConstUPtr = std::unique_ptr< const REPInvKin >

Public Types inherited from tesseract_kinematics::InverseKinematics
using	Ptr = std::shared_ptr< InverseKinematics >

using	ConstPtr = std::shared_ptr< const InverseKinematics >

using	UPtr = std::unique_ptr< InverseKinematics >

using	ConstUPtr = std::unique_ptr< const InverseKinematics >

Public Member Functions
	~REPInvKin () override=default

	REPInvKin (const REPInvKin &other)

REPInvKin &	operator= (const REPInvKin &other)

	REPInvKin (REPInvKin &&)=default

REPInvKin &	operator= (REPInvKin &&)=default

	REPInvKin (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, ForwardKinematics::UPtr positioner, const Eigen::VectorXd &positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)
	Construct Inverse Kinematics for a robot on a positioner. More...

	REPInvKin (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, ForwardKinematics::UPtr positioner, const Eigen::MatrixX2d &positioner_sample_range, const Eigen::VectorXd &positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)
	Construct Inverse Kinematics for a robot on a positioner. More...

IKSolutions	calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const override final
	Calculates joint solutions given a pose for each tip link. More...

std::vector< std::string >	getJointNames () const override final
	Get list of joint names for kinematic object. More...

Eigen::Index	numJoints () const override final
	Number of joints in robot. More...

std::string	getBaseLinkName () const override final
	Get the robot base link name. More...

std::string	getWorkingFrame () const override final
	Get the inverse kinematics working frame. More...

std::vector< std::string >	getTipLinkNames () const override final
	Get the names of the tip links of the kinematics group. More...

std::string	getSolverName () const override final
	Get the name of the solver. Recommend using the name of the class. More...

InverseKinematics::UPtr	clone () const override final
	Clone the forward kinematics object. More...

Public Member Functions inherited from tesseract_kinematics::InverseKinematics
	InverseKinematics ()=default

virtual	~InverseKinematics ()=default

	InverseKinematics (const InverseKinematics &)=default

InverseKinematics &	operator= (const InverseKinematics &)=default

	InverseKinematics (InverseKinematics &&)=default

InverseKinematics &	operator= (InverseKinematics &&)=default

virtual IKSolutions	calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const =0
	Calculates joint solutions given a pose for each tip link. More...

virtual std::vector< std::string >	getJointNames () const =0
	Get list of joint names for kinematic object. More...

virtual Eigen::Index	numJoints () const =0
	Number of joints in robot. More...

virtual std::string	getBaseLinkName () const =0
	Get the robot base link name. More...

virtual std::string	getWorkingFrame () const =0
	Get the inverse kinematics working frame. More...

virtual std::vector< std::string >	getTipLinkNames () const =0
	Get the names of the tip links of the kinematics group. More...

virtual std::string	getSolverName () const =0
	Get the name of the solver. Recommend using the name of the class. More...

virtual InverseKinematics::UPtr	clone () const =0
	Clone the forward kinematics object. More...

Private Member Functions
void	init (const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state, InverseKinematics::UPtr manipulator, double manipulator_reach, ForwardKinematics::UPtr positioner, const Eigen::MatrixX2d &poitioner_sample_range, const Eigen::VectorXd &positioner_sample_resolution, std::string solver_name=DEFAULT_REP_INV_KIN_SOLVER_NAME)

IKSolutions	calcInvKinHelper (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const
	calcFwdKin helper function More...

void	nested_ik (IKSolutions &solutions, int loop_level, const std::vector< Eigen::VectorXd > &dof_range, const tesseract_common::TransformMap &tip_link_poses, Eigen::VectorXd &positioner_pose, const Eigen::Ref< const Eigen::VectorXd > &seed) const

void	ikAt (IKSolutions &solutions, const tesseract_common::TransformMap &tip_link_poses, Eigen::VectorXd &positioner_pose, const Eigen::Ref< const Eigen::VectorXd > &seed) const

Private Attributes
std::vector< std::string >	joint_names_

InverseKinematics::UPtr	manip_inv_kin_

ForwardKinematics::UPtr	positioner_fwd_kin_

std::string	working_frame_

std::string	manip_tip_link_

double	manip_reach_ { 0 }

Eigen::Isometry3d	manip_base_to_positioner_base_

Eigen::Index	dof_ { -1 }

std::vector< Eigen::VectorXd >	dof_range_

std::string	solver_name_ { DEFAULT_REP_INV_KIN_SOLVER_NAME }
	Name of this solver. More...

Detailed Description

Robot With External Positioner Inverse kinematic implementation.

In this kinematic arrangement the base link is the tip link of the external positioner and the tip link is the tip link of the manipulator. Therefore all provided target poses are expected to the tip link of the positioner.

Member Typedef Documentation

◆ ConstPtr

using tesseract_kinematics::REPInvKin::ConstPtr = std::shared_ptr<const REPInvKin>

◆ ConstUPtr

using tesseract_kinematics::REPInvKin::ConstUPtr = std::unique_ptr<const REPInvKin>

◆ Ptr

using tesseract_kinematics::REPInvKin::Ptr = std::shared_ptr<REPInvKin>

◆ UPtr

using tesseract_kinematics::REPInvKin::UPtr = std::unique_ptr<REPInvKin>

Constructor & Destructor Documentation

◆ ~REPInvKin()

tesseract_kinematics::REPInvKin::~REPInvKin ( )

overridedefault

◆ REPInvKin() [1/4]

tesseract_kinematics::REPInvKin::REPInvKin ( const REPInvKin & other )

◆ REPInvKin() [2/4]

tesseract_kinematics::REPInvKin::REPInvKin ( REPInvKin && )

default

◆ REPInvKin() [3/4]

tesseract_kinematics::REPInvKin::REPInvKin	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state,
		InverseKinematics::UPtr	manipulator,
		double	manipulator_reach,
		ForwardKinematics::UPtr	positioner,
		const Eigen::VectorXd &	positioner_sample_resolution,
		std::string	solver_name = `DEFAULT_REP_INV_KIN_SOLVER_NAME`
	)

Construct Inverse Kinematics for a robot on a positioner.

Parameters

scene_graph	The Tesseract Scene Graph
scene_state	The Tesseract Scene State
manipulator
manipulator_reach
positioner
positioner_sample_resolution
solver_name	The name given to the solver. This is exposed so you may have same solver with different

◆ REPInvKin() [4/4]

tesseract_kinematics::REPInvKin::REPInvKin	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state,
		InverseKinematics::UPtr	manipulator,
		double	manipulator_reach,
		ForwardKinematics::UPtr	positioner,
		const Eigen::MatrixX2d &	positioner_sample_range,
		const Eigen::VectorXd &	positioner_sample_resolution,
		std::string	solver_name = `DEFAULT_REP_INV_KIN_SOLVER_NAME`
	)

Construct Inverse Kinematics for a robot on a positioner.

Parameters

scene_graph	The Tesseract Scene Graph
manipulator
manipulator_reach
positioner
positioner_sample_range
positioner_sample_resolution
solver_name	The name given to the solver. This is exposed so you may have same solver with different sampling resolutions

Member Function Documentation

◆ calcInvKin()

IKSolutions tesseract_kinematics::REPInvKin::calcInvKin	(	const tesseract_common::TransformMap &	tip_link_poses,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

finaloverridevirtual

Calculates joint solutions given a pose for each tip link.

This interface supports IK for both kinematic chains that have a single tool tip link and kinematic chains that have multiple tip links. For example, consider a robot with external part positioner: a pose can be specified to be relative to the tip link of the robot or the tip link of the positioner is to support a pose relative to a active link. For example a robot with an external positioner where the pose is relative to the tip link of the positioner.

Note: Redundant joint solutions can be provided by the utility function getRedundantSolutions

Parameters

tip_link_poses	A map of poses corresponding to each tip link provided in getTipLinkNames and relative to the working frame of the kinematics group for which to solve inverse kinematics
seed	Vector of seed joint angles (size must match number of joints in kinematic object)

Returns: A vector of solutions, If empty it failed to find a solution (including uninitialized)

Implements tesseract_kinematics::InverseKinematics.

◆ calcInvKinHelper()

IKSolutions tesseract_kinematics::REPInvKin::calcInvKinHelper	(	const tesseract_common::TransformMap &	tip_link_poses,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

private

calcFwdKin helper function

◆ clone()

InverseKinematics::UPtr tesseract_kinematics::REPInvKin::clone ( ) const

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

◆ getBaseLinkName()

std::string tesseract_kinematics::REPInvKin::getBaseLinkName ( ) const

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::REPInvKin::getJointNames ( ) const

finaloverridevirtual

Get list of joint names for kinematic object.

Returns: A vector of joint names, joint_list_

Implements tesseract_kinematics::InverseKinematics.

◆ getSolverName()

std::string tesseract_kinematics::REPInvKin::getSolverName ( ) const

finaloverridevirtual

Get the name of the solver. Recommend using the name of the class.

Implements tesseract_kinematics::InverseKinematics.

◆ getTipLinkNames()

std::vector< std::string > tesseract_kinematics::REPInvKin::getTipLinkNames ( ) const

finaloverridevirtual

Get the names of the tip links of the kinematics group.

In the case of a kinematic chain, this returns one tip link; in the case of a kinematic tree this returns the tip link for each branch of the tree.

Implements tesseract_kinematics::InverseKinematics.

◆ getWorkingFrame()

std::string tesseract_kinematics::REPInvKin::getWorkingFrame ( ) const

finaloverridevirtual

Get the inverse kinematics working frame.

This is the frame of reference in which all poses given to the calcInvKin function should be defined

Implements tesseract_kinematics::InverseKinematics.

◆ ikAt()

void tesseract_kinematics::REPInvKin::ikAt	(	IKSolutions &	solutions,
		const tesseract_common::TransformMap &	tip_link_poses,
		Eigen::VectorXd &	positioner_pose,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

private

◆ init()

void tesseract_kinematics::REPInvKin::init	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const tesseract_scene_graph::SceneState &	scene_state,
		InverseKinematics::UPtr	manipulator,
		double	manipulator_reach,
		ForwardKinematics::UPtr	positioner,
		const Eigen::MatrixX2d &	poitioner_sample_range,
		const Eigen::VectorXd &	positioner_sample_resolution,
		std::string	solver_name = `DEFAULT_REP_INV_KIN_SOLVER_NAME`
	)

private

◆ nested_ik()

void tesseract_kinematics::REPInvKin::nested_ik	(	IKSolutions &	solutions,
		int	loop_level,
		const std::vector< Eigen::VectorXd > &	dof_range,
		const tesseract_common::TransformMap &	tip_link_poses,
		Eigen::VectorXd &	positioner_pose,
		const Eigen::Ref< const Eigen::VectorXd > &	seed
	)		const

private

◆ numJoints()

Eigen::Index tesseract_kinematics::REPInvKin::numJoints ( ) const

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

◆ operator=() [1/2]

REPInvKin & tesseract_kinematics::REPInvKin::operator= ( const REPInvKin & other )

◆ operator=() [2/2]

REPInvKin & tesseract_kinematics::REPInvKin::operator= ( REPInvKin && )

default

Member Data Documentation

◆ dof_

Eigen::Index tesseract_kinematics::REPInvKin::dof_ { -1 }

private

◆ dof_range_

std::vector<Eigen::VectorXd> tesseract_kinematics::REPInvKin::dof_range_

private

◆ joint_names_

std::vector<std::string> tesseract_kinematics::REPInvKin::joint_names_

private

◆ manip_base_to_positioner_base_

Eigen::Isometry3d tesseract_kinematics::REPInvKin::manip_base_to_positioner_base_

private

◆ manip_inv_kin_

InverseKinematics::UPtr tesseract_kinematics::REPInvKin::manip_inv_kin_

private

◆ manip_reach_

double tesseract_kinematics::REPInvKin::manip_reach_ { 0 }

private

◆ manip_tip_link_

std::string tesseract_kinematics::REPInvKin::manip_tip_link_

private

◆ positioner_fwd_kin_

ForwardKinematics::UPtr tesseract_kinematics::REPInvKin::positioner_fwd_kin_

private

◆ solver_name_

std::string tesseract_kinematics::REPInvKin::solver_name_ { DEFAULT_REP_INV_KIN_SOLVER_NAME }

private

Name of this solver.

◆ working_frame_

std::string tesseract_kinematics::REPInvKin::working_frame_

private

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

tesseract_kinematics/core/include/tesseract_kinematics/core/rep_inv_kin.h
tesseract_kinematics/core/src/rep_inv_kin.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~REPInvKin()

◆ REPInvKin() [1/4]

◆ REPInvKin() [2/4]

◆ REPInvKin() [3/4]

◆ REPInvKin() [4/4]

Member Function Documentation

◆ calcInvKin()

◆ calcInvKinHelper()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ getWorkingFrame()

◆ ikAt()

◆ init()

◆ nested_ik()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ dof_

◆ dof_range_

◆ joint_names_

◆ manip_base_to_positioner_base_

◆ manip_inv_kin_

◆ manip_reach_

◆ manip_tip_link_

◆ positioner_fwd_kin_

◆ solver_name_

◆ working_frame_