roboticslab::ConfigurationSelector Class Reference

Abstract base class for a robot configuration strategy selector.

#include <ConfigurationSelector.hpp>

Inheritance diagram for roboticslab::ConfigurationSelector:

Classes
class	Configuration
	Helper class to store a specific robot configuration. More...

Public Member Functions
	ConfigurationSelector (const KDL::JntArray &qMin, const KDL::JntArray &qMax)
	Constructor.
virtual	~ConfigurationSelector ()=default
	Destructor.
virtual bool	configure (const std::vector< KDL::JntArray > &solutions, const std::vector< bool > &reachability)
	Stores initial values for a specific pose.
virtual bool	findOptimalConfiguration (const KDL::JntArray &qGuess)=0
	Analyzes available configurations and selects the optimal one.
virtual void	retrievePose (KDL::JntArray &q) const
	Queries computed joint values for the optimal configuration.
int	getValidSolutionIndex () const
	Retrieves the index of the last valid solution.

Static Public Attributes
static constexpr int	INVALID_CONFIG = -1

Protected Member Functions
virtual bool	validate (Configuration &config)
	Validates a specific robot configuration.

Static Protected Member Functions
static bool	checkJointInLimits (double q, double qMin, double qMax)
	Checks if a joint value is within its limits.

Protected Attributes
KDL::JntArray	_qMin
KDL::JntArray	_qMax
std::vector< Configuration >	configs
int	lastValid {INVALID_CONFIG}

Constructor & Destructor Documentation

ConfigurationSelector()

roboticslab::ConfigurationSelector::ConfigurationSelector ( const KDL::JntArray &  qMin, const KDL::JntArray &  qMax  )

inline

Parameters

qMin	Joint array of minimum joint limits.
qMax	Joint array of maximum joint limits.

Member Function Documentation

checkJointInLimits()

static bool roboticslab::ConfigurationSelector::checkJointInLimits ( double  q, double  qMin, double  qMax  )

inlinestaticprotected

Parameters

q	Joint value.
qMin	Minimum joint limit.
qMax	Maximum joint limit.

Returns

True/false on within/without limits.

configure()

bool ConfigurationSelector::configure ( const std::vector< KDL::JntArray > &  solutions, const std::vector< bool > &  reachability  )

virtual

Parameters

solutions

Vector of joint arrays that represent all available (valid or not) robot joint poses.

Returns

True/false on success/failure.

findOptimalConfiguration()

virtual bool roboticslab::ConfigurationSelector::findOptimalConfiguration ( const KDL::JntArray &  qGuess )

pure virtual

Parameters

qGuess

Joint array of values for current robot position.

Returns

True/false on success/failure.

Implemented in roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement, and roboticslab::ConfigurationSelectorHumanoidGait.

getValidSolutionIndex()

int roboticslab::ConfigurationSelector::getValidSolutionIndex ( ) const

inline

Returns

Index of the last valid solution.

retrievePose()

virtual void roboticslab::ConfigurationSelector::retrievePose ( KDL::JntArray &  q ) const

inlinevirtual

Parameters

q	Output joint array.

validate()

bool ConfigurationSelector::validate ( Configuration &  config )

protectedvirtual

Parameters

config

Configuration to validate.

Returns

True/false on valid/invalid.

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

• libraries/ScrewTheoryLib/ConfigurationSelector.hpp
• libraries/ScrewTheoryLib/ConfigurationSelector.cpp