#include <KdlTreeSolver_ParamsParser.h>

Inheritance diagram for KdlTreeSolver_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 = {"KdlTreeSolver"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_kinematics_defaultValue = {""}

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

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

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

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

const std::string	m_vTranslMax_defaultValue = {"1.0"}

const std::string	m_vRotMax_defaultValue = {"50.0"}

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

const std::string	m_weightsJS_defaultValue = {""}

const std::string	m_weightsTS_defaultValue = {""}

const std::string	m_mins_defaultValue = {""}

const std::string	m_maxs_defaultValue = {""}

const std::string	m_maxvels_defaultValue = {""}

std::string	m_kinematics = {}

std::vector< double >	m_gravity = { }

std::string	m_ikPos = {"nrjl"}

double	m_epsPos = {1e-5}

int	m_maxIterPos = {1000}

double	m_vTranslMax = {1.0}

double	m_vRotMax = {50.0}

double	m_lambda = {0.01}

std::vector< double >	m_weightsJS = {}

std::vector< double >	m_weightsTS = {}

std::vector< double >	m_mins = {}

std::vector< double >	m_maxs = {}

std::vector< double >	m_maxvels = {}

Detailed Description

This class is the parameters parser for class KdlTreeSolver.

These are the used parameters:

Group name	Parameter name	Type	Units	Default Value	Required	Description	Notes
-	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	-	nrjl	0	IK position solver algorithm	nrjl, online
-	epsPos	double	m	1e-5	0	IK position solver precision	-
-	maxIterPos	int	-	1000	0	IK position solver max iterations	-
-	vTranslMax	double	m/s	1.0	0	maximum translation speed	-
-	vRotMax	double	deg/s	50.0	0	maximum rotation speed	-
-	lambda	double	-	0.01	0	lambda parameter for diff IK	-
-	weightsJS	vector<double>	-	-	0	joint space weights	-
-	weightsTS	vector<double>	-	-	0	task space weights	-
-	mins	vector<double>	deg	-	1	lower bound joint position limits	-
-	maxs	vector<double>	deg	-	1	upper bound joint position limits	-
-	maxvels	vector<double>	deg/s	-	1	joint velocity limits	-

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

yarpdev --device KdlTreeSolver --kinematics <optional_value> --gravity \" (0.0 0.0 9.81) \" --ikPos nrjl --epsPos 1e-5 --maxIterPos 1000 --vTranslMax 1.0 --vRotMax 50.0 --lambda 0.01 --weightsJS <optional_value> --weightsTS <optional_value> --mins <mandatory_value> --maxs <mandatory_value> --maxvels <mandatory_value>

yarpdev --device KdlTreeSolver --mins <mandatory_value> --maxs <mandatory_value> --maxvels <mandatory_value>

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

libraries/YarpPlugins/KdlTreeSolver/KdlTreeSolver_ParamsParser.h
libraries/YarpPlugins/KdlTreeSolver/KdlTreeSolver_ParamsParser.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description