IK solver configuration strategy selector based on the overall displacement of all joints. More...
#include <ConfigurationSelector.hpp>
Inheritance diagram for roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement:
Public Member Functions | |
| ConfigurationSelectorLeastOverallAngularDisplacement (const KDL::JntArray &qMin, const KDL::JntArray &qMax) | |
| Constructor. More... | |
| bool | findOptimalConfiguration (const KDL::JntArray &qGuess) override |
| Analyzes available configurations and selects the optimal one. More... | |
 Public Member Functions inherited from roboticslab::ConfigurationSelector | |
| 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 void | retrievePose (KDL::JntArray &q) const |
| Queries computed joint values for the optimal configuration. More... | |
Protected Member Functions | |
| std::vector< double > | getDiffs (const KDL::JntArray &qGuess, const Configuration &config) |
| Obtains vector of differences between current and desired joint values. | |
Protected Attributes | |
| int | lastValid |
| Protected Attributes inherited from roboticslab::ConfigurationSelector | |
| KDL::JntArray | _qMin |
| KDL::JntArray | _qMax |
| Configuration | optimalConfig |
| std::vector< Configuration > | configs |
Static Protected Attributes | |
| static const int | INVALID_CONFIG = -1 |
Detailed Description
Selects the configuration that entails the lowest sum of displacements across all joints. Works best for all revolute/all prismatic chain types. If attainable, it retains the previous configuration after the first successful choice and discards all other configs for the rest of the instance's lifetime.
Constructor & Destructor Documentation
◆ ConfigurationSelectorLeastOverallAngularDisplacement()
|
inline |
- Parameters
-
qMin Joint array of minimum joint limits. qMax Joint array of maximum joint limits.
Member Function Documentation
◆ findOptimalConfiguration()
|
overridevirtual |
- Parameters
-
qGuess Joint array of values for current robot position.
- Returns
- True/false on success/failure.
Implements roboticslab::ConfigurationSelector.
Reimplemented in roboticslab::ConfigurationSelectorHumanoidGait.
The documentation for this class was generated from the following files:
- libraries/ScrewTheoryLib/ConfigurationSelector.hpp
- libraries/ScrewTheoryLib/ConfigurationSelectorLeastOverallAngularDisplacement.cpp
