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. More... | |
| virtual | ~ConfigurationSelector ()=default |
| Destructor. | |
| virtual bool | configure (const std::vector< KDL::JntArray > &solutions) |
| Stores initial values for a specific pose. More... | |
| virtual bool | findOptimalConfiguration (const KDL::JntArray &qGuess)=0 |
| Analyzes available configurations and selects the optimal one. More... | |
| virtual void | retrievePose (KDL::JntArray &q) const |
| Queries computed joint values for the optimal configuration. More... | |
Protected Attributes | |
| KDL::JntArray | _qMin |
| KDL::JntArray | _qMax |
| Configuration | optimalConfig |
| std::vector< Configuration > | configs |
Constructor & Destructor Documentation
◆ ConfigurationSelector()
|
inline |
- Parameters
-
qMin Joint array of minimum joint limits. qMax Joint array of maximum joint limits.
Member Function Documentation
◆ configure()
|
virtual |
- Parameters
-
solutions Vector of joint arrays that represent all available (valid or not) robot joint poses.
- Returns
- True/false on success/failure.
◆ findOptimalConfiguration()
|
pure virtual |
- Parameters
-
qGuess Joint array of values for current robot position.
- Returns
- True/false on success/failure.
Implemented in roboticslab::ConfigurationSelectorHumanoidGait, and roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement.
◆ retrievePose()
|
inlinevirtual |
- Parameters
-
q Output joint array.
The documentation for this class was generated from the following files:
- libraries/ScrewTheoryLib/ConfigurationSelector.hpp
- libraries/ScrewTheoryLib/ConfigurationSelector.cpp
