Tesseract
Motion Planning Environment
Loading...
Searching...
No Matches
Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
tesseract_kinematics::ROPInvKin Class Reference

Robot on Positioner Inverse kinematic implementation. More...

#include <rop_inv_kin.h>

Inheritance diagram for tesseract_kinematics::ROPInvKin:
Inheritance graph
[legend]
Collaboration diagram for tesseract_kinematics::ROPInvKin:
Collaboration graph
[legend]

Public Types

using Ptr = std::shared_ptr< ROPInvKin >
 
using ConstPtr = std::shared_ptr< const ROPInvKin >
 
using UPtr = std::unique_ptr< ROPInvKin >
 
using ConstUPtr = std::unique_ptr< const ROPInvKin >
 
- 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

 ~ROPInvKin () override=default
 
 ROPInvKin (const ROPInvKin &other)
 
ROPInvKinoperator= (const ROPInvKin &other)
 
 ROPInvKin (ROPInvKin &&)=default
 
ROPInvKinoperator= (ROPInvKin &&)=default
 
 ROPInvKin (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_ROP_INV_KIN_SOLVER_NAME)
 Initializes Inverse Kinematics for a robot on a positioner. More...
 
 ROPInvKin (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_ROP_INV_KIN_SOLVER_NAME)
 Initializes 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
 
InverseKinematicsoperator= (const InverseKinematics &)=default
 
 InverseKinematics (InverseKinematics &&)=default
 
InverseKinematicsoperator= (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_ROP_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 manip_tip_link_
 
std::string positioner_tip_link_
 
double manip_reach_ { 0 }
 
Eigen::Index dof_ { -1 }
 
Eigen::Isometry3d positioner_to_robot_ { Eigen::Isometry3d::Identity() }
 
std::vector< Eigen::VectorXd > dof_range_
 
std::string solver_name_ { DEFAULT_ROP_INV_KIN_SOLVER_NAME }
 Name of this solver. More...
 

Detailed Description

Robot on Positioner Inverse kinematic implementation.

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~ROPInvKin()

tesseract_kinematics::ROPInvKin::~ROPInvKin ( )
overridedefault

◆ ROPInvKin() [1/4]

tesseract_kinematics::ROPInvKin::ROPInvKin ( const ROPInvKin other)

◆ ROPInvKin() [2/4]

tesseract_kinematics::ROPInvKin::ROPInvKin ( ROPInvKin &&  )
default

◆ ROPInvKin() [3/4]

tesseract_kinematics::ROPInvKin::ROPInvKin ( 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_ROP_INV_KIN_SOLVER_NAME 
)

Initializes Inverse Kinematics for a robot on a positioner.

Parameters
scene_graphThe Tesseract Scene Graph
scene_stateThe Tesseract Scene State
manipulator
manipulator_reach
positioner
positioner_sample_resolution
solver_nameThe name given to the solver. This is exposed so you may have same solver with different sampling resolutions
Returns
True if init() completes successfully

◆ ROPInvKin() [4/4]

tesseract_kinematics::ROPInvKin::ROPInvKin ( 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_ROP_INV_KIN_SOLVER_NAME 
)

Initializes Inverse Kinematics for a robot on a positioner.

Parameters
scene_graphThe Tesseract Scene Graph
scene_stateThe Tesseract Scene State
manipulator
manipulator_reach
positioner
positioner_sample_range
positioner_sample_resolution
solver_nameThe name given to the solver. This is exposed so you may have same solver with different sampling resolutions
Returns
True if init() completes successfully

Member Function Documentation

◆ calcInvKin()

IKSolutions tesseract_kinematics::ROPInvKin::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_posesA 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
seedVector 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::ROPInvKin::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::ROPInvKin::clone ( ) const
finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::InverseKinematics.

◆ getBaseLinkName()

std::string tesseract_kinematics::ROPInvKin::getBaseLinkName ( ) const
finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::InverseKinematics.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::ROPInvKin::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::ROPInvKin::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::ROPInvKin::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::ROPInvKin::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::ROPInvKin::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::ROPInvKin::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_ROP_INV_KIN_SOLVER_NAME 
)
private

◆ nested_ik()

void tesseract_kinematics::ROPInvKin::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::ROPInvKin::numJoints ( ) const
finaloverridevirtual

Number of joints in robot.

Returns
Number of joints in robot

Implements tesseract_kinematics::InverseKinematics.

◆ operator=() [1/2]

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

◆ operator=() [2/2]

ROPInvKin & tesseract_kinematics::ROPInvKin::operator= ( ROPInvKin &&  )
default

Member Data Documentation

◆ dof_

Eigen::Index tesseract_kinematics::ROPInvKin::dof_ { -1 }
private

◆ dof_range_

std::vector<Eigen::VectorXd> tesseract_kinematics::ROPInvKin::dof_range_
private

◆ joint_names_

std::vector<std::string> tesseract_kinematics::ROPInvKin::joint_names_
private

◆ manip_inv_kin_

InverseKinematics::UPtr tesseract_kinematics::ROPInvKin::manip_inv_kin_
private

◆ manip_reach_

double tesseract_kinematics::ROPInvKin::manip_reach_ { 0 }
private

◆ manip_tip_link_

std::string tesseract_kinematics::ROPInvKin::manip_tip_link_
private

◆ positioner_fwd_kin_

ForwardKinematics::UPtr tesseract_kinematics::ROPInvKin::positioner_fwd_kin_
private

◆ positioner_tip_link_

std::string tesseract_kinematics::ROPInvKin::positioner_tip_link_
private

◆ positioner_to_robot_

Eigen::Isometry3d tesseract_kinematics::ROPInvKin::positioner_to_robot_ { Eigen::Isometry3d::Identity() }
private

◆ solver_name_

std::string tesseract_kinematics::ROPInvKin::solver_name_ { DEFAULT_ROP_INV_KIN_SOLVER_NAME }
private

Name of this solver.


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