IK solver configuration strategy selector based on the overall angle displacement of all joints. More...
#include <AsibotConfiguration.hpp>
Inheritance diagram for roboticslab::AsibotConfigurationLeastOverallAngularDisplacement:
Public Member Functions | |
| AsibotConfigurationLeastOverallAngularDisplacement (JointsIn qMin, JointsIn qMax) | |
| Constructor. More... | |
| bool | findOptimalConfiguration (JointsIn qGuess) override |
| Analyzes available configurations and selects the optimal one. More... | |
 Public Member Functions inherited from roboticslab::AsibotConfiguration | |
| AsibotConfiguration (JointsIn qMin, JointsIn qMax) | |
| Constructor. More... | |
| 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. More... | |
| virtual void | retrieveAngles (JointsOut q) const |
| Queries computed angles for the optimal configuration. More... | |
Private Member Functions | |
| std::vector< double > | getDiffs (JointsIn qGuess, const Pose &pose) |
| Obtains vector of differences between current and desired joint angles [deg]. | |
Additional Inherited Members | |
| Public Types inherited from roboticslab::AsibotConfiguration | |
| using | JointsIn = const std::vector< double > & |
| Const vector of joint angles (input parameter). | |
| using | JointsOut = std::vector< double > & |
| Vector of joint angles (output parameter). | |
| Protected Attributes inherited from roboticslab::AsibotConfiguration | |
| JointsIn | _qMin |
| JointsIn | _qMax |
| Pose | optimalPose |
| Pose | forwardElbowUp |
| Pose | forwardElbowDown |
| Pose | reversedElbowUp |
| Pose | reversedElbowDown |
Detailed Description
Selects the configuration that entails the lowest sum of angular displacements across all joints. Upon choosing between elbow up and down alternatives, a small angular travel distance for joint 2 is preferred.
Constructor & Destructor Documentation
◆ AsibotConfigurationLeastOverallAngularDisplacement()
|
inline |
- Parameters
-
qMin vector of minimum joint limits [deg] qMax vector of maximum joint limits [deg]
Member Function Documentation
◆ findOptimalConfiguration()
|
overridevirtual |
- Parameters
-
qGuess vector of joint angles for current robot position [deg]
- Returns
- true/false on success/failure
Implements roboticslab::AsibotConfiguration.
The documentation for this class was generated from the following files:
- libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.hpp
- libraries/YarpPlugins/AsibotSolver/AsibotConfigurationLeastOverallAngularDisplacement.cpp
