IK solver configuration strategy selector based on human walking. More...

Inheritance diagram for roboticslab::ConfigurationSelectorHumanoidGait:

Public Member Functions
	ConfigurationSelectorHumanoidGait (const KDL::JntArray &qMin, const KDL::JntArray &qMax)
	Constructor.

bool	findOptimalConfiguration (const KDL::JntArray &qGuess) override
	Analyzes available configurations and selects the optimal one.

Public Member Functions inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement
	ConfigurationSelectorLeastOverallAngularDisplacement (const KDL::JntArray &qMin, const KDL::JntArray &qMax)
	Constructor.

bool	findOptimalConfiguration (const KDL::JntArray &qGuess) override
	Analyzes available configurations and selects the optimal one.

Public Member Functions inherited from roboticslab::ConfigurationSelector
	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 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.

Private Member Functions
bool	applyConstraints (const Configuration &config)
	Determines whether the configuration is valid according to this selector's premises.

Additional Inherited Members
Static Public Attributes inherited from roboticslab::ConfigurationSelector
static constexpr int	INVALID_CONFIG = -1

Protected Member Functions inherited from roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement
std::vector< double >	getDiffs (const KDL::JntArray &qGuess, const Configuration &config)
	Obtains vector of differences between current and desired joint values.

Protected Member Functions inherited from roboticslab::ConfigurationSelector
virtual bool	validate (Configuration &config)
	Validates a specific robot configuration.

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

Protected Attributes inherited from roboticslab::ConfigurationSelector
KDL::JntArray	_qMin

KDL::JntArray	_qMax

std::vector< Configuration >	configs

int	lastValid {INVALID_CONFIG}

Detailed Description

Intended for use on lower-body limbs, specifically UC3M TEO's 6-DOF legs. Discards non-human-like configurations, such as the inverted knee pose.

Constructor & Destructor Documentation

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

inline

Parameters

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

bool ConfigurationSelectorHumanoidGait::findOptimalConfiguration ( const KDL::JntArray & qGuess )

overridevirtual

Parameters

qGuess Joint array of values for current robot position.

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