roboticslab::AsibotConfiguration Class Reference

Abstract base class for a robot configuration strategy selector. More...

#include <AsibotConfiguration.hpp>

Inheritance diagram for roboticslab::AsibotConfiguration:

Classes
struct	Pose
	Helper class to store a specific robot configuration. More...

Public Types
using	JointsIn = const std::vector< double > &
	Const vector of joint angles (input parameter).
using	JointsOut = std::vector< double > &
	Vector of joint angles (output parameter).

Public Member Functions
	AsibotConfiguration (JointsIn qMin, JointsIn qMax)
	Constructor.
virtual	~AsibotConfiguration ()=default
	Destructor.
virtual bool	configure (double q1, double q2u, double q2d, double q3, double q4u, double q4d, double q5)
	Stores initial values for a specific pose.
virtual bool	findOptimalConfiguration (JointsIn qGuess)=0
	Analyzes available configurations and selects the optimal one.
virtual void	retrieveAngles (JointsOut q) const
	Queries computed angles for the optimal configuration.

Protected Attributes
JointsIn	_qMin
JointsIn	_qMax
Pose	optimalPose
Pose	forwardElbowUp
Pose	forwardElbowDown
Pose	reversedElbowUp
Pose	reversedElbowDown

Detailed Description

Designed with ASIBOT's specific case in mind, which entails up to four different configurations depending on initial angles provided.

Constructor & Destructor Documentation

AsibotConfiguration()

roboticslab::AsibotConfiguration::AsibotConfiguration ( JointsIn  qMin, JointsIn  qMax  )

inline

Parameters

qMin	vector of minimum joint limits [deg]
qMax	vector of maximum joint limits [deg]

Member Function Documentation

configure()

bool AsibotConfiguration::configure ( double  q1, double  q2u, double  q2d, double  q3, double  q4u, double  q4d, double  q5  )

virtual

Distinguishes between elbow up and down poses. Make sure that:

oyP = q2u + q3 + q4u = q2d - q3 + q4d 

Parameters

q1	IK solution for joint 1 [deg]
q2u	IK solution for joint 2 (elbow up) [deg]
q2d	IK solution for joint 2 (elbow down) [deg]
q3	IK solution for joint 3 [deg]
q4u	IK solution for joint 4 (elbow up) [deg]
q4d	IK solution for joint 4 (elbow down) [deg]
q5	IK solution for joint 5 [deg]

Returns

true/false on success/failure

findOptimalConfiguration()

virtual bool roboticslab::AsibotConfiguration::findOptimalConfiguration ( JointsIn  qGuess )

pure virtual

Parameters

qGuess

vector of joint angles for current robot position [deg]

Returns

true/false on success/failure

Implemented in roboticslab::AsibotConfigurationLeastOverallAngularDisplacement.

retrieveAngles()

virtual void roboticslab::AsibotConfiguration::retrieveAngles ( JointsOut  q ) const

inlinevirtual

Parameters

q	vector of joint angles [deg]

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

• libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.hpp
• libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.cpp