The KdlSolver class implements ICartesianSolver.

#include <KdlSolver.hpp>

Inheritance diagram for KdlSolver:

Public Member Functions
int	getNumJoints () override
	Get number of joints for which the solver has been configured.

int	getNumTcps () override
	Get number of TCPs for which the solver has been configured.

bool	appendLink (const std::vector< double > &x) override
	Append an additional link.

bool	restoreOriginalChain () override
	Restore original kinematic chain.

bool	changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj) override
	Change origin in which a pose is expressed.

bool	fwdKin (const std::vector< double > &q, std::vector< double > &x) override
	Perform forward kinematics.

bool	poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut) override
	Obtain difference between supplied pose inputs.

bool	invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame) override
	Perform inverse kinematics.

bool	diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame) override
	Perform differential inverse kinematics.

bool	invDyn (const std::vector< double > &q, std::vector< double > &t) override
	Perform inverse dynamics.

bool	invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame) override
	Perform inverse dynamics.

bool	open (yarp::os::Searchable &config) override

bool	close () override

Public Member Functions inherited from roboticslab::ICartesianSolver
virtual	~ICartesianSolver ()=default
	Destructor.

virtual bool	invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double > > &fexts, std::vector< double > &t)
	Perform inverse dynamics.

Public Member Functions inherited from KdlSolver_ParamsParser
bool	parseParams (const yarp::os::Searchable &config) override

std::string	getDeviceClassName () const override

std::string	getDeviceName () const override

std::string	getDocumentationOfDeviceParams () const override

std::vector< std::string >	getListOfParams () const override

Private Member Functions
const yarp::os::LogComponent &	logc () const

Private Attributes
std::mutex	mtx

KDL::Chain	chain

KDL::Chain	originalChain

KDL::ChainFkSolverPos *	fkSolverPos {nullptr}

KDL::ChainIkSolverPos *	ikSolverPos {nullptr}

KDL::ChainIkSolverVel *	ikSolverVel {nullptr}

KDL::ChainIdSolver *	idSolver {nullptr}

Additional Inherited Members
Public Types inherited from roboticslab::ICartesianSolver
enum	reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') , TCP_FRAME = yarp::os::createVocab32('c','p','f','t') }
	Lists supported reference frames. More...

Public Attributes inherited from KdlSolver_ParamsParser
const std::string	m_device_classname = {"KdlSolver"}

const std::string	m_device_name = {"KdlSolver"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_quiet_defaultValue = {"false"}

const std::string	m_kinematics_defaultValue = {""}

const std::string	m_gravity_defaultValue = {"(0.0 0.0 9.81)"}

const std::string	m_ikPos_defaultValue = {"st"}

const std::string	m_ikVel_defaultValue = {"pinv"}

const std::string	m_epsPos_defaultValue = {"1e-5"}

const std::string	m_maxIterPos_defaultValue = {"1000"}

const std::string	m_epsVel_defaultValue = {"1e-5"}

const std::string	m_maxIterVel_defaultValue = {"150"}

const std::string	m_lambda_defaultValue = {"0.01"}

const std::string	m_weightsLMA_defaultValue = {"(1.0 1.0 1.0 0.1 0.1 0.1)"}

const std::string	m_weightsJS_defaultValue = {""}

const std::string	m_weightsTS_defaultValue = {""}

const std::string	m_invKinStrategy_defaultValue = {"leastOverallAngularDisplacement"}

const std::string	m_mins_defaultValue = {""}

const std::string	m_maxs_defaultValue = {""}

bool	m_quiet = {false}

std::string	m_kinematics = {}

std::vector< double >	m_gravity = { }

std::string	m_ikPos = {"st"}

std::string	m_ikVel = {"pinv"}

double	m_epsPos = {1e-5}

int	m_maxIterPos = {1000}

double	m_epsVel = {1e-5}

int	m_maxIterVel = {150}

double	m_lambda = {0.01}

std::vector< double >	m_weightsLMA = { }

std::vector< double >	m_weightsJS = {}

std::vector< double >	m_weightsTS = {}

std::string	m_invKinStrategy = {"leastOverallAngularDisplacement"}

std::vector< double >	m_mins = {}

std::vector< double >	m_maxs = {}

Member Function Documentation

◆ appendLink()

bool KdlSolver::appendLink ( const std::vector< double > & x )

overridevirtual

Parameters

x	6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ changeOrigin()

bool KdlSolver::changeOrigin	(	const std::vector< double > &	x_old_obj,
		const std::vector< double > &	x_new_old,
		std::vector< double > &	x_new_obj
	)

overridevirtual

Parameters

x_old_obj_in	6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
x_new_old	6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
x_new_obj	6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ diffInvKin()

bool KdlSolver::diffInvKin	(	const std::vector< double > &	q,
		const std::vector< double > &	xdot,
		std::vector< double > &	qdot,
		reference_frame	frame
	)

overridevirtual

Parameters

q	Vector describing current position in joint space (meters or degrees).
xdot	6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second).
qdot	Vector describing target velocity in joint space (meters/second or degrees/second).
frame	Points at the reference_frame the desired position is expressed in.

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ fwdKin()

bool KdlSolver::fwdKin	(	const std::vector< double > &	q,
		std::vector< double > &	x
	)

overridevirtual

Parameters

q	Vector describing a position in joint space (meters or degrees).
x	6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ getNumJoints()

int KdlSolver::getNumJoints ( )

overridevirtual

Returns: Number of joints.

Implements roboticslab::ICartesianSolver.

◆ getNumTcps()

int KdlSolver::getNumTcps ( )

overridevirtual

Returns: The number of TCPs.

Implements roboticslab::ICartesianSolver.

◆ invDyn() [1/2]

bool KdlSolver::invDyn	(	const std::vector< double > &	q,
		const std::vector< double > &	qdot,
		const std::vector< double > &	qdotdot,
		const std::vector< double > &	ftip,
		std::vector< double > &	t,
		reference_frame	frame
	)

overridevirtual

Parameters

q	Vector describing current position in joint space (meters or degrees).
qdot	Vector describing current velocity in joint space (meters/second or degrees/second).
qdotdot	Vector describing current acceleration in joint space (meters/second² or degrees/second²).
ftip	Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).
t	6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).
frame	Points at the reference_frame `ftip` is expressed in.

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ invDyn() [2/2]

bool KdlSolver::invDyn	(	const std::vector< double > &	q,
		std::vector< double > &	t
	)

overridevirtual

Assumes null joint velocities and accelerations, and no external forces.

Parameters

q	Vector describing current position in joint space (meters or degrees).
t	6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ invKin()

bool KdlSolver::invKin	(	const std::vector< double > &	xd,
		const std::vector< double > &	qGuess,
		std::vector< double > &	q,
		reference_frame	frame
	)

overridevirtual

Parameters

xd	6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
qGuess	Vector describing current position in joint space (meters or degrees).
q	Vector describing target position in joint space (meters or degrees).
frame	Points at the reference_frame the desired position is expressed in.

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ poseDiff()

bool KdlSolver::poseDiff	(	const std::vector< double > &	xLhs,
		const std::vector< double > &	xRhs,
		std::vector< double > &	xOut
	)

overridevirtual

The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.

Parameters

xLhs	6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
xRhs	6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
xOut	6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

◆ restoreOriginalChain()

bool KdlSolver::restoreOriginalChain ( )

overridevirtual

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

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

libraries/YarpPlugins/KdlSolver/KdlSolver.hpp
libraries/YarpPlugins/KdlSolver/DeviceDriverImpl.cpp
libraries/YarpPlugins/KdlSolver/ICartesianSolverImpl.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ appendLink()

◆ changeOrigin()

◆ diffInvKin()

◆ fwdKin()

◆ getNumJoints()

◆ getNumTcps()

◆ invDyn() [1/2]

◆ invDyn() [2/2]

◆ invKin()

◆ poseDiff()

◆ restoreOriginalChain()