#include <KdlSolver_ParamsParser.h>

Inheritance diagram for KdlSolver_ParamsParser:

Classes
struct	parser_version_type

Public Member Functions
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

Public Attributes
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 = {}

Detailed Description

This class is the parameters parser for class KdlSolver.

These are the used parameters:

Group name	Parameter name	Type	Units	Default Value	Required	Description	Notes
-	quiet	bool	-	false	0	disable logging	-
-	kinematics	string	-	-	0	path to file with description of robot kinematics	-
-	gravity	vector<double>	m/s^2	(0.0 0.0 9.81)	0	gravity vector	-
-	ikPos	string	-	st	0	IK position solver algorithm	lma, nrjl, st, id
-	ikVel	string	-	pinv	0	IK velocity solver algorithm	pinv, wdls
-	epsPos	double	m	1e-5	0	IK position solver precision	-
-	maxIterPos	int	-	1000	0	IK position solver max iterations	-
-	epsVel	double	m	1e-5	0	IK velocity solver precision	-
-	maxIterVel	int	-	150	0	IK velocity solver max iterations	-
-	lambda	double	-	0.01	0	lambda parameter for diff IK	-
-	weightsLMA	vector<double>	-	(1.0 1.0 1.0 0.1 0.1 0.1)	0	LMA algorithm weights	-
-	weightsJS	vector<double>	-	-	0	joint space weights	-
-	weightsTS	vector<double>	-	-	0	task space weights	-
-	invKinStrategy	string	-	leastOverallAngularDisplacement	0	IK configuration strategy	-
-	mins	vector<double>	deg	-	1	lower bound joint position limits	-
-	maxs	vector<double>	deg	-	1	upper bound joint position limits	-

The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):

yarpdev --device KdlSolver --quiet false --kinematics <optional_value> --gravity \" (0.0 0.0 9.81) \" --ikPos st --ikVel pinv --epsPos 1e-5 --maxIterPos 1000 --epsVel 1e-5 --maxIterVel 150 --lambda 0.01 --weightsLMA \" (1.0 1.0 1.0 0.1 0.1 0.1) \" --weightsJS <optional_value> --weightsTS <optional_value> --invKinStrategy leastOverallAngularDisplacement --mins <mandatory_value> --maxs <mandatory_value>

yarpdev --device KdlSolver --mins <mandatory_value> --maxs <mandatory_value>

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

libraries/YarpPlugins/KdlSolver/KdlSolver_ParamsParser.h
libraries/YarpPlugins/KdlSolver/KdlSolver_ParamsParser.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description