utils.h File Reference

Kinematics utility functions. More...

#include <tesseract_common/macros.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Eigenvalues>
#include <console_bridge/console.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_kinematics/core/forward_kinematics.h>
#include <tesseract_kinematics/core/kinematic_group.h>

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Classes
struct	tesseract_kinematics::ManipulabilityEllipsoid
	Used to store Manipulability and Force Ellipsoid data. More...
struct	tesseract_kinematics::Manipulability
	Contains both manipulability ellipsoid and force ellipsoid data. More...

Namespaces
namespace	tesseract_kinematics

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

Functions
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)
	Numerically calculate a jacobian. This is mainly used for testing. More...
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)
	Numerically calculate a jacobian. This is mainly used for testing. More...
static bool	tesseract_kinematics::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	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)
	Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...
bool	tesseract_kinematics::isNearSingularity (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, double threshold=0.01)
	Check if the provided jacobian is near a singularity. More...
Manipulability	tesseract_kinematics::calcManipulability (const Eigen::Ref< const Eigen::MatrixXd > &jacobian)
	Calculate manipulability data about the provided jacobian. More...
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)
	This a recursive function for calculating all permutations of the redundant solutions. More...
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)
	Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions. More...
template<typename FloatType >
bool	tesseract_kinematics::isValid (const std::array< FloatType, 6 > &qs)
	Given a vector of floats, this check if they are finite. More...
template<typename FloatType >
void	tesseract_kinematics::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...

Detailed Description

Kinematics utility functions.

Author

Levi Armstrong

Date

April 15, 2018

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2013, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.