roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement Class Reference

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.
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.

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

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

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()

roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement::ConfigurationSelectorLeastOverallAngularDisplacement ( 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

findOptimalConfiguration()

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

overridevirtual

Parameters

qGuess

Joint array of values for current robot position.

Returns

True/false on success/failure.

Implements roboticslab::ConfigurationSelector.

---

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

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