Namespaces
namespace	test_suite

Classes
class	AbbIRB2400Kinematics

class	ForwardKinematics
	Forward kinematics functions. More...

class	FwdKinFactory
	Define a forward kinematics plugin which the factory can create an instance. More...

class	iiwa7Kinematics

class	IKFastInvKin
	IKFast Inverse Kinematics Implmentation. More...

class	InverseKinematics
	Inverse kinematics functions. More...

class	InvKinFactory
	Define a inverse kinematics plugin which the factory can create an instance. More...

class	JointGroup
	A Joint Group is defined by a list of joint_names. More...

struct	KDLChainData
	The KDLChainData struct. More...

class	KDLFwdKinChain
	KDL kinematic chain implementation. More...

class	KDLFwdKinChainFactory

class	KDLInvKinChainLMA
	KDL Inverse kinematic chain implementation. More...

class	KDLInvKinChainLMAFactory

class	KDLInvKinChainNR
	KDL Inverse kinematic chain implementation. More...

class	KDLInvKinChainNRFactory

class	KinematicGroup

class	KinematicsPluginFactory

struct	KinGroupIKInput
	Structure containing the data required to solve inverse kinematics. More...

struct	Manipulability
	Contains both manipulability ellipsoid and force ellipsoid data. More...

struct	ManipulabilityEllipsoid
	Used to store Manipulability and Force Ellipsoid data. More...

class	OPWInvKin
	OPW Inverse Kinematics Implementation. More...

class	OPWInvKinFactory

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

class	REPInvKinFactory

class	ROPInvKin
	Robot on Positioner Inverse kinematic implementation. More...

class	ROPInvKinFactory

class	URInvKin
	Universal Robot Inverse Kinematics Implementation. More...

class	URInvKinFactory

struct	URParameters
	The Universal Robot kinematic parameters. More...

Typedefs
using	KinGroupIKInputs = tesseract_common::AlignedVector< KinGroupIKInput >

using	IKSolutions = std::vector< Eigen::VectorXd >
	The inverse kinematics solutions container. More...

template<typename FloatType >
using	VectorX = Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >

Functions
static const URParameters	UR10Parameters (0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922)
	The UR10 kinematic parameters. More...

static const URParameters	UR5Parameters (0.089159, -0.42500, -0.39225, 0.10915, 0.09465, 0.0823)
	The UR5 kinematic parameters. More...

static const URParameters	UR3Parameters (0.1519, -0.24365, -0.21325, 0.11235, 0.08535, 0.0819)
	The UR3 kinematic parameters. More...

static const URParameters	UR10eParameters (0.1807, -0.6127, -0.57155, 0.17415, 0.11985, 0.11655)
	The UR10e kinematic parameters. More...

static const URParameters	UR5eParameters (0.1625, -0.425, -0.3922, 0.1333, 0.0997, 0.0996)
	The UR5e kinematic parameters. More...

static const URParameters	UR3eParameters (0.15185, -0.24355, -0.2132, 0.13105, 0.08535, 0.0921)
	The UR3e kinematic parameters. More...

static void	numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const tesseract_kinematics::ForwardKinematics &kin, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...

static void	numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const JointGroup &joint_group, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...

static bool	solvePInv (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, Eigen::Ref< Eigen::VectorXd > x)
	Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...

static bool	dampedPInv (const Eigen::Ref< const Eigen::MatrixXd > &A, Eigen::Ref< Eigen::MatrixXd > P, const double eps=0.011, const double lambda=0.01)
	Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...

bool	isNearSingularity (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, double threshold=0.01)
	Check if the provided jacobian is near a singularity. More...

Manipulability	calcManipulability (const Eigen::Ref< const Eigen::MatrixXd > &jacobian)
	Calculate manipulability data about the provided jacobian. More...

template<typename FloatType >
void	getRedundantSolutionsHelper (std::vector< VectorX< FloatType > > &redundant_sols, const Eigen::Ref< const Eigen::VectorXd > &sol, const Eigen::MatrixX2d &limits, std::vector< Eigen::Index >::const_iterator current_index, std::vector< Eigen::Index >::const_iterator end_index)
	This a recursive function for calculating all permutations of the redundant solutions. More...

template<typename FloatType >
std::vector< VectorX< FloatType > >	getRedundantSolutions (const Eigen::Ref< const VectorX< FloatType > > &sol, const Eigen::MatrixX2d &limits, const std::vector< Eigen::Index > &redundancy_capable_joints)
	Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions. More...

template<typename FloatType >
bool	isValid (const std::array< FloatType, 6 > &qs)
	Given a vector of floats, this check if they are finite. More...

template<typename FloatType >
void	harmonizeTowardZero (Eigen::Ref< VectorX< FloatType > > qs, const std::vector< Eigen::Index > &redundancy_capable_joints)
	This take an array of floats and modifies them in place to be between [-PI, PI]. More...

bool	checkKinematics (const KinematicGroup &manip, double tol=1e-3)
	This compares calcFwdKin to calcInvKin for a KinematicGroup. More...

void	KDLToEigen (const KDL::Frame &frame, Eigen::Isometry3d &transform)
	Convert KDL::Frame to Eigen::Isometry3d. More...

void	EigenToKDL (const Eigen::Isometry3d &transform, KDL::Frame &frame)
	Convert Eigen::Isometry3d to KDL::Frame. More...

void	KDLToEigen (const KDL::Jacobian &jacobian, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert KDL::Jacobian to Eigen::Matrix. More...

void	KDLToEigen (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert a subset of KDL::Jacobian to Eigen::Matrix. More...

void	EigenToKDL (const Eigen::Ref< const Eigen::VectorXd > &vec, KDL::JntArray &joints)
	Convert Eigen::Vector to KDL::JntArray. More...

void	KDLToEigen (const KDL::JntArray &joints, Eigen::Ref< Eigen::VectorXd > vec)
	Convert KDL::JntArray to Eigen::Vector. More...

bool	parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains)
	Parse KDL chain data from the scene graph. More...

bool	parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_name, const std::string &tip_name)
	Parse KDL chain data from the scene graph. More...

int	inverse (const Eigen::Isometry3d &T, const URParameters &params, double *q_sols, double q6_des)

Variables
static const std::string	DEFAULT_REP_INV_KIN_SOLVER_NAME = "REPInvKin"

static const std::string	DEFAULT_ROP_INV_KIN_SOLVER_NAME = "ROPInvKin"

static const std::string	IKFAST_INV_KIN_CHAIN_SOLVER_NAME = "IKFastInvKin"

static const std::string	KDL_FWD_KIN_CHAIN_SOLVER_NAME = "KDLFwdKinChain"

static const std::string	KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME = "KDLInvKinChainLMA"

static const std::string	KDL_INV_KIN_CHAIN_NR_SOLVER_NAME = "KDLInvKinChainNR"

static const std::string	OPW_INV_KIN_CHAIN_SOLVER_NAME = "OPWInvKin"

static const std::string	UR_INV_KIN_CHAIN_SOLVER_NAME = "URInvKin"

Typedef Documentation

◆ IKSolutions

using tesseract_kinematics::IKSolutions = typedef std::vector<Eigen::VectorXd>

The inverse kinematics solutions container.

◆ KinGroupIKInputs

using tesseract_kinematics::KinGroupIKInputs = typedef tesseract_common::AlignedVector<KinGroupIKInput>

◆ VectorX

template<typename FloatType >

using tesseract_kinematics::VectorX = typedef Eigen::Matrix<FloatType, Eigen::Dynamic, 1>

Function Documentation

◆ calcManipulability()

Manipulability tesseract_kinematics::calcManipulability ( const Eigen::Ref< const Eigen::MatrixXd > & jacobian )

inline

Calculate manipulability data about the provided jacobian.

Parameters

jacobian The jacobian used to calculate manipulability

Returns: The manipulability data

◆ checkKinematics()

bool tesseract_kinematics::checkKinematics	(	const KinematicGroup &	manip,
		double	tol = `1e-3`
	)

This compares calcFwdKin to calcInvKin for a KinematicGroup.

It checks that the following are the same:

The forward kinematic solution matches the inverse kinematic solutions
Parameters

manip The kinematic group for a manipulator

Returns
True it they match, otherwise false.

◆ dampedPInv()

static bool tesseract_kinematics::dampedPInv	(	const Eigen::Ref< const Eigen::MatrixXd > &	A,
		Eigen::Ref< Eigen::MatrixXd >	P,
		const double	eps = `0.011`,
		const double	lambda = `0.01`
	)

inlinestatic

Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD.

Parameters

A	Input matrix (represents Jacobian)
P	Output matrix (represents pseudoinverse of A)
eps	Singular value threshold
lambda	Damping factor

Returns: True if Pseudoinverse completes properly

◆ EigenToKDL() [1/2]

void tesseract_kinematics::EigenToKDL	(	const Eigen::Isometry3d &	transform,
		KDL::Frame &	frame
	)

Convert Eigen::Isometry3d to KDL::Frame.

Parameters

transform	Input Eigen transform (Isometry3d)
frame	Output KDL Frame

◆ EigenToKDL() [2/2]

void tesseract_kinematics::EigenToKDL	(	const Eigen::Ref< const Eigen::VectorXd > &	vec,
		KDL::JntArray &	joints
	)

Convert Eigen::Vector to KDL::JntArray.

Parameters

vec	Input Eigen vector
joints	Output KDL joint array

◆ getRedundantSolutions()

template<typename FloatType >

std::vector< VectorX< FloatType > > tesseract_kinematics::getRedundantSolutions	(	const Eigen::Ref< const VectorX< FloatType > > &	sol,
		const Eigen::MatrixX2d &	limits,
		const std::vector< Eigen::Index > &	redundancy_capable_joints
	)

inline

Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions.

The list of redundant solutions does not include the provided solutions.

Parameters

sol	The solution to calculate redundant solutions about
limits	The joint limits of the robot
redundancy_capable_joints	The indices of the redundancy capable joints

◆ getRedundantSolutionsHelper()

template<typename FloatType >

void tesseract_kinematics::getRedundantSolutionsHelper	(	std::vector< VectorX< FloatType > > &	redundant_sols,
		const Eigen::Ref< const Eigen::VectorXd > &	sol,
		const Eigen::MatrixX2d &	limits,
		std::vector< Eigen::Index >::const_iterator	current_index,
		std::vector< Eigen::Index >::const_iterator	end_index
	)

inline

This a recursive function for calculating all permutations of the redundant solutions.

This should not be used directly, use getRedundantSolutions function.

◆ harmonizeTowardZero()

template<typename FloatType >

void tesseract_kinematics::harmonizeTowardZero	(	Eigen::Ref< VectorX< FloatType > >	qs,
		const std::vector< Eigen::Index > &	redundancy_capable_joints
	)

inline

This take an array of floats and modifies them in place to be between [-PI, PI].

Parameters

qs	A pointer to a float array
dof	The length of the float array

◆ inverse()

int tesseract_kinematics::inverse	(	const Eigen::Isometry3d &	T,
		const URParameters &	params,
		double *	q_sols,
		double	q6_des
	)

◆ isNearSingularity()

bool tesseract_kinematics::isNearSingularity	(	const Eigen::Ref< const Eigen::MatrixXd > &	jacobian,
		double	threshold = `0.01`
	)

inline

Check if the provided jacobian is near a singularity.

This is keep separated from the forward kinematics because special consideration may need to be made based on the kinematics arrangement.

Parameters

jacobian	The jacobian to check if near a singularity
threshold	The threshold that all singular values must be greater than or equal to not be considered near a singularity

◆ isValid()

template<typename FloatType >

bool tesseract_kinematics::isValid ( const std::array< FloatType, 6 > & qs )

inline

Given a vector of floats, this check if they are finite.

In the case of OPW and IKFast they can return NANS so this is used to check that solutions are valid.

Parameters

qs	A pointer to a floats array
dof	The length of the float array

Returns: True if the array is valid, otherwise false

◆ KDLToEigen() [1/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Frame &	frame,
		Eigen::Isometry3d &	transform
	)

Convert KDL::Frame to Eigen::Isometry3d.

Parameters

frame	Input KDL Frame
transform	Output Eigen transform (Isometry3d)

◆ KDLToEigen() [2/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		const std::vector< int > &	q_nrs,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert a subset of KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
q_nrs	Input the columns to use
matrix	Output Eigen MatrixXd

◆ KDLToEigen() [3/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
matrix	Output Eigen MatrixXd

◆ KDLToEigen() [4/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::JntArray &	joints,
		Eigen::Ref< Eigen::VectorXd >	vec
	)

Convert KDL::JntArray to Eigen::Vector.

Parameters

joints	Input KDL joint array
vec	Output Eigen vector

◆ numericalJacobian() [1/2]

static void tesseract_kinematics::numericalJacobian	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Isometry3d &	change_base,
		const tesseract_kinematics::ForwardKinematics &	kin,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const Eigen::Ref< const Eigen::Vector3d > &	link_point
	)

inlinestatic

Numerically calculate a jacobian. This is mainly used for testing.

Parameters

jacobian	(Return) The jacobian which gets filled out.
kin	The kinematics object
joint_values	The joint values for which to calculate the jacobian
link_name	The link_name for which the jacobian should be calculated
link_point	The point on the link for which to calculate the jacobian

◆ numericalJacobian() [2/2]

static void tesseract_kinematics::numericalJacobian	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const JointGroup &	joint_group,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const Eigen::Ref< const Eigen::Vector3d > &	link_point
	)

inlinestatic

Numerically calculate a jacobian. This is mainly used for testing.

Parameters

jacobian	(Return) The jacobian which gets filled out.
joint_group	The joint group object
joint_values	The joint values for which to calculate the jacobian
link_name	The link_name for which the jacobian should be calculated
link_point	The point on the link for which to calculate the jacobian

◆ parseSceneGraph() [1/2]

bool tesseract_kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_name,
		const std::string &	tip_name
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
base_name	The base link name of chain
tip_name	The tip link name of chain

Returns: True if successful otherwise false

◆ parseSceneGraph() [2/2]

bool tesseract_kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
chains	A vector of link pairs that represent a chain which all get concatenated together. The firts link should be the base link and the second link should the tip link of the chain.

Returns: True if successful otherwise false

◆ solvePInv()

static bool tesseract_kinematics::solvePInv	(	const Eigen::Ref< const Eigen::MatrixXd > &	A,
		const Eigen::Ref< const Eigen::VectorXd > &	b,
		Eigen::Ref< Eigen::VectorXd >	x
	)

inlinestatic

Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD.

Parameters

A	Input matrix (represents Jacobian)
b	Input vector (represents desired pose)
x	Output vector (represents joint values)

Returns: True if solver completes properly

◆ UR10eParameters()

static const URParameters tesseract_kinematics::UR10eParameters	(	0.	1807,
		-0.	6127,
		-0.	57155,
		0.	17415,
		0.	11985,
		0.	11655
	)

static

The UR10e kinematic parameters.

◆ UR10Parameters()

static const URParameters tesseract_kinematics::UR10Parameters	(	0.	1273,
		-0.	612,
		-0.	5723,
		0.	163941,
		0.	1157,
		0.	0922
	)

static

The UR10 kinematic parameters.

◆ UR3eParameters()

static const URParameters tesseract_kinematics::UR3eParameters	(	0.	15185,
		-0.	24355,
		-0.	2132,
		0.	13105,
		0.	08535,
		0.	0921
	)

static

The UR3e kinematic parameters.

◆ UR3Parameters()

static const URParameters tesseract_kinematics::UR3Parameters	(	0.	1519,
		-0.	24365,
		-0.	21325,
		0.	11235,
		0.	08535,
		0.	0819
	)

static

The UR3 kinematic parameters.

◆ UR5eParameters()

static const URParameters tesseract_kinematics::UR5eParameters	(	0.	1625,
		-0.	425,
		-0.	3922,
		0.	1333,
		0.	0997,
		0.	0996
	)

static

The UR5e kinematic parameters.

◆ UR5Parameters()

static const URParameters tesseract_kinematics::UR5Parameters	(	0.	089159,
		-0.	42500,
		-0.	39225,
		0.	10915,
		0.	09465,
		0.	0823
	)

static

The UR5 kinematic parameters.

Variable Documentation

◆ DEFAULT_REP_INV_KIN_SOLVER_NAME

const std::string tesseract_kinematics::DEFAULT_REP_INV_KIN_SOLVER_NAME = "REPInvKin"

static

◆ DEFAULT_ROP_INV_KIN_SOLVER_NAME

const std::string tesseract_kinematics::DEFAULT_ROP_INV_KIN_SOLVER_NAME = "ROPInvKin"

static

◆ IKFAST_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::IKFAST_INV_KIN_CHAIN_SOLVER_NAME = "IKFastInvKin"

static

◆ KDL_FWD_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::KDL_FWD_KIN_CHAIN_SOLVER_NAME = "KDLFwdKinChain"

static

◆ KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME

const std::string tesseract_kinematics::KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME = "KDLInvKinChainLMA"

static

◆ KDL_INV_KIN_CHAIN_NR_SOLVER_NAME

const std::string tesseract_kinematics::KDL_INV_KIN_CHAIN_NR_SOLVER_NAME = "KDLInvKinChainNR"

static

◆ OPW_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::OPW_INV_KIN_CHAIN_SOLVER_NAME = "OPWInvKin"

static

◆ UR_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::UR_INV_KIN_CHAIN_SOLVER_NAME = "URInvKin"

static

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ IKSolutions

◆ KinGroupIKInputs

◆ VectorX

Function Documentation

◆ calcManipulability()

◆ checkKinematics()

◆ dampedPInv()

◆ EigenToKDL() [1/2]

◆ EigenToKDL() [2/2]

◆ getRedundantSolutions()

◆ getRedundantSolutionsHelper()

◆ harmonizeTowardZero()

◆ inverse()

◆ isNearSingularity()

◆ isValid()

◆ KDLToEigen() [1/4]

◆ KDLToEigen() [2/4]

◆ KDLToEigen() [3/4]

◆ KDLToEigen() [4/4]

◆ numericalJacobian() [1/2]

◆ numericalJacobian() [2/2]

◆ parseSceneGraph() [1/2]

◆ parseSceneGraph() [2/2]

◆ solvePInv()

◆ UR10eParameters()

◆ UR10Parameters()

◆ UR3eParameters()

◆ UR3Parameters()

◆ UR5eParameters()

◆ UR5Parameters()

Variable Documentation

◆ DEFAULT_REP_INV_KIN_SOLVER_NAME

◆ DEFAULT_ROP_INV_KIN_SOLVER_NAME

◆ IKFAST_INV_KIN_CHAIN_SOLVER_NAME

◆ KDL_FWD_KIN_CHAIN_SOLVER_NAME

◆ KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME

◆ KDL_INV_KIN_CHAIN_NR_SOLVER_NAME

◆ OPW_INV_KIN_CHAIN_SOLVER_NAME

◆ UR_INV_KIN_CHAIN_SOLVER_NAME