IKFast Inverse Kinematics Implmentation. More...

#include <ikfast_inv_kin.h>

Inheritance diagram for tesseract_kinematics::IKFastInvKin:

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Collaboration diagram for tesseract_kinematics::IKFastInvKin:

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

using	ConstPtr = std::shared_ptr< const IKFastInvKin >

using	UPtr = std::unique_ptr< IKFastInvKin >

using	ConstUPtr = std::unique_ptr< const IKFastInvKin >

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
	~IKFastInvKin () override=default

	IKFastInvKin (const IKFastInvKin &other)

IKFastInvKin &	operator= (const IKFastInvKin &other)

	IKFastInvKin (IKFastInvKin &&)=default

IKFastInvKin &	operator= (IKFastInvKin &&)=default

	IKFastInvKin (std::string base_link_name, std::string tip_link_name, std::vector< std::string > joint_names, std::vector< Eigen::Index > redundancy_capable_joints, std::string solver_name=IKFAST_INV_KIN_CHAIN_SOLVER_NAME, std::vector< std::vector< double > > free_joint_states={})
	Construct IKFast Inverse Kinematics. More...

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

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

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

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

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

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

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

InverseKinematics::UPtr	clone () const override
	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...

Static Public Member Functions
static std::vector< std::vector< double > >	generateAllFreeJointStateCombinations (const std::vector< std::vector< double > > &free_joint_samples)
	Generates all possible combinations of joint states and stores it to the free_joint_states_ class member Example: Given 2 free joints, wanting to sample the first joint at 0, 1, and 2 and the second joint at 3 and 4 the input would be [[0, 1, 2][3,4]] and it would generate [[0,3][0,4][1,3][1,4][2,3][2,4]]. More...

Protected Attributes
std::string	base_link_name_
	Link name of first link in the kinematic object. More...

std::string	tip_link_name_
	Link name of last kink in the kinematic object. More...

std::vector< std::string >	joint_names_
	Joint names for the kinematic object. More...

std::vector< Eigen::Index >	redundancy_capable_joints_

std::string	solver_name_ { IKFAST_INV_KIN_CHAIN_SOLVER_NAME }
	Redundancy capable joints. More...

std::vector< std::vector< double > >	free_joint_states_

Detailed Description

IKFast Inverse Kinematics Implmentation.

This along with the ikfast_inv_kin.hpp is to be used with a generated ikfast to create a tesseract implementation. Once you have created your ikfast solver of your robot all you need is to create header similar to what is shown below:

Header File: fanuc_p50ib_15_inv_kinematics.h

#include <Eigen/Geometry> #include <vector> #include <tesseract_kinematics/ikfast/ikfast_inv_kin.h>

namespace fanuc_p50ib_15_ikfast_wrapper { class FanucP50iBInvKinematics : public tesseract_kinematics::IKFastInvKin { public: FanucP50iBInvKinematics(const std::string base_link_name, const std::string tip_link_name, const std::vector<std::string> joint_names, const std::string name) };

Cpp File:

#include <tesseract_kinematics/ikfast/impl/ikfast_inv_kin.hpp> #include <fanuc_p50ib_15_ikfast_wrapper/impl/fanuc_p50ib_15_ikfast.hpp> #include <fanuc_p50ib_15_ikfast_wrapper/tesseract_fanuc_p50ib_kinematics.h>

namespace fanuc_p50ib_15_ikfast_wrapper { FanucP50iBInvKinematics::FanucP50iBInvKinematics(const std::string base_link_name, const std::string tip_link_name, const std::vector<std::string> joint_names const std::string name) : FanucP50iBInvKinematics(base_link_name, tip_link_name, joint_names, name, joint_limits) {} }

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Ptr

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

◆ UPtr

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

Constructor & Destructor Documentation

◆ ~IKFastInvKin()

tesseract_kinematics::IKFastInvKin::~IKFastInvKin ( )

overridedefault

◆ IKFastInvKin() [1/3]

tesseract_kinematics::IKFastInvKin::IKFastInvKin ( const IKFastInvKin & other )

inline

◆ IKFastInvKin() [2/3]

tesseract_kinematics::IKFastInvKin::IKFastInvKin ( IKFastInvKin && )

default

◆ IKFastInvKin() [3/3]

tesseract_kinematics::IKFastInvKin::IKFastInvKin	(	std::string	base_link_name,
		std::string	tip_link_name,
		std::vector< std::string >	joint_names,
		std::vector< Eigen::Index >	redundancy_capable_joints,
		std::string	solver_name = `IKFAST_INV_KIN_CHAIN_SOLVER_NAME`,
		std::vector< std::vector< double > >	free_joint_states = `{}`
	)

inline

Construct IKFast Inverse Kinematics.

Parameters

base_link_name	The name of the base link for the kinematic chain
tip_link_name	The name of the tip link for the kinematic chain
joint_names	The joint names for the kinematic chain
solver_name	The solver name of the kinematic chain

Member Function Documentation

◆ calcInvKin()

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

inlineoverridevirtual

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.

◆ clone()

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

inlineoverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

◆ generateAllFreeJointStateCombinations()

std::vector< std::vector< double > > tesseract_kinematics::IKFastInvKin::generateAllFreeJointStateCombinations ( const std::vector< std::vector< double > > & free_joint_samples )

inlinestatic

Generates all possible combinations of joint states and stores it to the free_joint_states_ class member Example: Given 2 free joints, wanting to sample the first joint at 0, 1, and 2 and the second joint at 3 and 4 the input would be [[0, 1, 2][3,4]] and it would generate [[0,3][0,4][1,3][1,4][2,3][2,4]].

Parameters

free_joint_samples A vector of vectors in which the lower level vectors each represent all of a single joint's possible positions to be sampled

Returns

◆ getBaseLinkName()

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

inlineoverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

◆ getJointNames()

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

inlineoverridevirtual

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::IKFastInvKin::getSolverName ( ) const

inlineoverridevirtual

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

Implements tesseract_kinematics::InverseKinematics.

◆ getTipLinkNames()

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

inlineoverridevirtual

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::IKFastInvKin::getWorkingFrame ( ) const

inlineoverridevirtual

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::IKFastInvKin::numJoints ( ) const

inlineoverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

◆ operator=() [1/2]

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

inline

◆ operator=() [2/2]

IKFastInvKin & tesseract_kinematics::IKFastInvKin::operator= ( IKFastInvKin && )

default

Member Data Documentation

◆ base_link_name_

std::string tesseract_kinematics::IKFastInvKin::base_link_name_

protected

Link name of first link in the kinematic object.

◆ free_joint_states_

std::vector<std::vector<double> > tesseract_kinematics::IKFastInvKin::free_joint_states_

protected

◆ joint_names_

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

protected

Joint names for the kinematic object.

◆ redundancy_capable_joints_

std::vector<Eigen::Index> tesseract_kinematics::IKFastInvKin::redundancy_capable_joints_

protected

◆ solver_name_

std::string tesseract_kinematics::IKFastInvKin::solver_name_ { IKFAST_INV_KIN_CHAIN_SOLVER_NAME }

protected

Redundancy capable joints.

Name of this solver

combinations of free joints to sample when computing IK Example: Given 3 free joints, a valid input would be [[0,0,0][0,0,1][-1,0,1][0,2,0]]

◆ tip_link_name_

std::string tesseract_kinematics::IKFastInvKin::tip_link_name_

protected

Link name of last kink in the kinematic object.

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

tesseract_kinematics/ikfast/include/tesseract_kinematics/ikfast/ikfast_inv_kin.h
tesseract_kinematics/ikfast/include/tesseract_kinematics/ikfast/impl/ikfast_inv_kin.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~IKFastInvKin()

◆ IKFastInvKin() [1/3]

◆ IKFastInvKin() [2/3]

◆ IKFastInvKin() [3/3]

Member Function Documentation

◆ calcInvKin()

◆ clone()

◆ generateAllFreeJointStateCombinations()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ getWorkingFrame()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ base_link_name_

◆ free_joint_states_

◆ joint_names_

◆ redundancy_capable_joints_

◆ solver_name_

◆ tip_link_name_