KDL Inverse kinematic chain implementation. More...

#include <kdl_inv_kin_chain_nr.h>

Inheritance diagram for tesseract_kinematics::KDLInvKinChainNR:

Collaboration diagram for tesseract_kinematics::KDLInvKinChainNR:

[legend]

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

using	ConstPtr = std::shared_ptr< const KDLInvKinChainNR >

using	UPtr = std::unique_ptr< KDLInvKinChainNR >

using	ConstUPtr = std::unique_ptr< const KDLInvKinChainNR >

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
	~KDLInvKinChainNR () override=default

	KDLInvKinChainNR (const KDLInvKinChainNR &other)

KDLInvKinChainNR &	operator= (const KDLInvKinChainNR &other)

	KDLInvKinChainNR (KDLInvKinChainNR &&)=delete

KDLInvKinChainNR &	operator= (KDLInvKinChainNR &&)=delete

	KDLInvKinChainNR (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_link, const std::string &tip_link, std::string solver_name=KDL_INV_KIN_CHAIN_NR_SOLVER_NAME)
	Construct KDL Forward Kinematics Creates KDL::Chain from tesseract scene graph. More...

	KDLInvKinChainNR (const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains, std::string solver_name=KDL_INV_KIN_CHAIN_NR_SOLVER_NAME)
	Construct Inverse Kinematics as chain Creates a inverse kinematic chain object from sequential chains. 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
IKSolutions	calcInvKinHelper (const Eigen::Isometry3d &pose, const Eigen::Ref< const Eigen::VectorXd > &seed, int segment_num=-1) const
	calcFwdKin helper function More...

Private Attributes
KDLChainData	kdl_data_
	KDL data parsed from Scene Graph. More...

std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_
	KDL Forward Kinematic Solver. More...

std::unique_ptr< KDL::ChainIkSolverVel_pinv >	ik_vel_solver_
	KDL Inverse kinematic velocity solver. More...

std::unique_ptr< KDL::ChainIkSolverPos_NR >	ik_solver_
	KDL Inverse kinematic solver. More...

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

std::mutex	mutex_
	KDL is not thread safe due to mutable variables in Joint Class. More...

Detailed Description

KDL Inverse kinematic chain implementation.

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Ptr

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

◆ UPtr

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

Constructor & Destructor Documentation

◆ ~KDLInvKinChainNR()

tesseract_kinematics::KDLInvKinChainNR::~KDLInvKinChainNR ( )

overridedefault

◆ KDLInvKinChainNR() [1/4]

tesseract_kinematics::KDLInvKinChainNR::KDLInvKinChainNR ( const KDLInvKinChainNR & other )

◆ KDLInvKinChainNR() [2/4]

tesseract_kinematics::KDLInvKinChainNR::KDLInvKinChainNR ( KDLInvKinChainNR && )

delete

◆ KDLInvKinChainNR() [3/4]

tesseract_kinematics::KDLInvKinChainNR::KDLInvKinChainNR	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_link,
		const std::string &	tip_link,
		std::string	solver_name = `KDL_INV_KIN_CHAIN_NR_SOLVER_NAME`
	)

Construct KDL Forward Kinematics Creates KDL::Chain from tesseract scene graph.

Parameters

scene_graph	The Tesseract Scene Graph
base_link	The name of the base link for the kinematic chain
tip_link	The name of the tip link for the kinematic chain
solver_name	The solver name of the kinematic chain

◆ KDLInvKinChainNR() [4/4]

tesseract_kinematics::KDLInvKinChainNR::KDLInvKinChainNR	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains,
		std::string	solver_name = `KDL_INV_KIN_CHAIN_NR_SOLVER_NAME`
	)

Construct Inverse Kinematics as chain Creates a inverse kinematic chain object from sequential chains.

Parameters

scene_graph	The Tesseract Scene Graph
chains	A vector of kinematics chains <base_link, tip_link> that get concatenated
solver_name	The solver name of the kinematic chain

Member Function Documentation

◆ calcInvKin()

IKSolutions tesseract_kinematics::KDLInvKinChainNR::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::KDLInvKinChainNR::calcInvKinHelper	(	const Eigen::Isometry3d &	pose,
		const Eigen::Ref< const Eigen::VectorXd > &	seed,
		int	segment_num = `-1`
	)		const

private

calcFwdKin helper function

◆ clone()

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

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

◆ getBaseLinkName()

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

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::KDLInvKinChainNR::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::KDLInvKinChainNR::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::KDLInvKinChainNR::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::KDLInvKinChainNR::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.

◆ numJoints()

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

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

◆ operator=() [1/2]

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

◆ operator=() [2/2]

KDLInvKinChainNR & tesseract_kinematics::KDLInvKinChainNR::operator= ( KDLInvKinChainNR && )

delete

Member Data Documentation

◆ fk_solver_

std::unique_ptr<KDL::ChainFkSolverPos_recursive> tesseract_kinematics::KDLInvKinChainNR::fk_solver_

private

KDL Forward Kinematic Solver.

◆ ik_solver_

std::unique_ptr<KDL::ChainIkSolverPos_NR> tesseract_kinematics::KDLInvKinChainNR::ik_solver_

private

KDL Inverse kinematic solver.

◆ ik_vel_solver_

std::unique_ptr<KDL::ChainIkSolverVel_pinv> tesseract_kinematics::KDLInvKinChainNR::ik_vel_solver_

private

KDL Inverse kinematic velocity solver.

◆ kdl_data_

KDLChainData tesseract_kinematics::KDLInvKinChainNR::kdl_data_

private

KDL data parsed from Scene Graph.

◆ mutex_

std::mutex tesseract_kinematics::KDLInvKinChainNR::mutex_

mutableprivate

KDL is not thread safe due to mutable variables in Joint Class.

◆ solver_name_

std::string tesseract_kinematics::KDLInvKinChainNR::solver_name_ { KDL_INV_KIN_CHAIN_NR_SOLVER_NAME }

private

Name of this solver.

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

tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_nr.h
tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~KDLInvKinChainNR()

◆ KDLInvKinChainNR() [1/4]

◆ KDLInvKinChainNR() [2/4]

◆ KDLInvKinChainNR() [3/4]

◆ KDLInvKinChainNR() [4/4]

Member Function Documentation

◆ calcInvKin()

◆ calcInvKinHelper()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ getWorkingFrame()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ fk_solver_

◆ ik_solver_

◆ ik_vel_solver_

◆ kdl_data_

◆ mutex_

◆ solver_name_