tesseract_kinematics::InverseKinematics Class Reference

Inverse kinematics functions. More...

#include <inverse_kinematics.h>

Inheritance diagram for tesseract_kinematics::InverseKinematics:

Public Types
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
	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...

Detailed Description

Inverse kinematics functions.

Member Typedef Documentation

ConstPtr

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

ConstUPtr

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

Ptr

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

UPtr

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

Constructor & Destructor Documentation

InverseKinematics() [1/3]

tesseract_kinematics::InverseKinematics::InverseKinematics ( )

default

~InverseKinematics()

virtual tesseract_kinematics::InverseKinematics::~InverseKinematics ( )

virtualdefault

InverseKinematics() [2/3]

tesseract_kinematics::InverseKinematics::InverseKinematics ( const InverseKinematics &  )

default

InverseKinematics() [3/3]

tesseract_kinematics::InverseKinematics::InverseKinematics ( InverseKinematics &&  )

default

Member Function Documentation

calcInvKin()

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

pure virtual

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)

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

clone()

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

pure virtual

Clone the forward kinematics object.

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

getBaseLinkName()

virtual std::string tesseract_kinematics::InverseKinematics::getBaseLinkName ( ) const

pure virtual

Get the robot base link name.

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

getJointNames()

virtual std::vector< std::string > tesseract_kinematics::InverseKinematics::getJointNames ( ) const

pure virtual

Get list of joint names for kinematic object.

Returns

A vector of joint names, joint_list_

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

getSolverName()

virtual std::string tesseract_kinematics::InverseKinematics::getSolverName ( ) const

pure virtual

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

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

getTipLinkNames()

virtual std::vector< std::string > tesseract_kinematics::InverseKinematics::getTipLinkNames ( ) const

pure virtual

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.

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

getWorkingFrame()

virtual std::string tesseract_kinematics::InverseKinematics::getWorkingFrame ( ) const

pure virtual

Get the inverse kinematics working frame.

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

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

numJoints()

virtual Eigen::Index tesseract_kinematics::InverseKinematics::numJoints ( ) const

pure virtual

Number of joints in robot.

Returns

Number of joints in robot

Implemented in tesseract_kinematics::IKFastInvKin, tesseract_kinematics::REPInvKin, tesseract_kinematics::ROPInvKin, tesseract_kinematics::KDLInvKinChainLMA, tesseract_kinematics::KDLInvKinChainNR, tesseract_kinematics::OPWInvKin, and tesseract_kinematics::URInvKin.

operator=() [1/2]

InverseKinematics & tesseract_kinematics::InverseKinematics::operator= ( const InverseKinematics &  )

default

operator=() [2/2]

InverseKinematics & tesseract_kinematics::InverseKinematics::operator= ( InverseKinematics &&  )

default

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

• tesseract_kinematics/core/include/tesseract_kinematics/core/inverse_kinematics.h