roboticslab::ChainIkSolverPos_ST Class Reference

IK solver using Screw Theory. More...

#include <ChainIkSolverPos_ST.hpp>

Inheritance diagram for roboticslab::ChainIkSolverPos_ST:

Public Member Functions
virtual	~ChainIkSolverPos_ST ()
	Destructor.
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
	Calculate inverse position kinematics. More...
void	updateInternalDataStructures () override
	Update the internal data structures. More...
const char *	strError (const int error) const override
	Return a description of the last error. More...

Static Public Member Functions
static KDL::ChainIkSolverPos *	create (const KDL::Chain &chain, const ConfigurationSelectorFactory &configFactory)
	Create an instance of ChainIkSolverPos_ST. More...

Static Public Attributes
static const int	E_SOLUTION_NOT_FOUND = -100
	Return code, IK solution not found.
static const int	E_OUT_OF_LIMITS = -101
	Return code, target pose out of robot limits.
static const int	E_NOT_REACHABLE = 100
	Return code, solution out of reach.

Private Member Functions
	ChainIkSolverPos_ST (const KDL::Chain &chain, ScrewTheoryIkProblem *problem, ConfigurationSelector *config)

Private Attributes
const KDL::Chain &	chain
ScrewTheoryIkProblem *	problem
ConfigurationSelector *	config

Detailed Description

Implementation of an inverse position kinematics algorithm. This is a thin wrapper around ScrewTheoryIkProblem. Non-exhaustive tests on TEO's (UC3M) right arm kinematic chain reveal that this is 5-10 faster than a numeric Newton-Raphson solver as provided by KDL (e.g. KDL::ChainIkSolverPos_NR_JL).

Member Function Documentation

CartToJnt()

int ChainIkSolverPos_ST::CartToJnt ( const KDL::JntArray &  q_init, const KDL::Frame &  p_in, KDL::JntArray &  q_out  )

override

Parameters

q_init	Initial guess of the joint coordinates (unused).
p_in	Input cartesian coordinates.
q_out	Output joint coordinates.

Returns

Return code, E_SOLUTION_NOT_FOUND if there is no solution or E_NOT_REACHABLE if at least one of them is out of reach.

create()

KDL::ChainIkSolverPos * ChainIkSolverPos_ST::create ( const KDL::Chain &  chain, const ConfigurationSelectorFactory &  configFactory  )

static

Parameters

chain	Input kinematic chain.
configFactory	Instance of an abstract factory class that instantiates a ConfigurationSelector.

Returns

Solver instance or null if no solution was found.

strError()

const char * ChainIkSolverPos_ST::strError ( const int  error ) const

override

Parameters

error

Error code.

Returns

If error is known then a description of error, otherwise "UNKNOWN ERROR".

updateInternalDataStructures()

void ChainIkSolverPos_ST::updateInternalDataStructures ( )

override

Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.

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

• libraries/YarpPlugins/KdlSolver/ChainIkSolverPos_ST.hpp
• libraries/YarpPlugins/KdlSolver/ChainIkSolverPos_ST.cpp