Abstract base class for a cartesian solver.

#include <ICartesianSolver.h>

Inheritance diagram for roboticslab::ICartesianSolver:

Public Types
enum	reference_frame { BASE_FRAME = yarp::os::createVocab32('c','p','f','b') , TCP_FRAME = yarp::os::createVocab32('c','p','f','t') }
	Lists supported reference frames. More...

Public Member Functions
virtual	~ICartesianSolver ()=default
	Destructor.

virtual int	getNumJoints ()=0
	Get number of joints for which the solver has been configured. More...

virtual int	getNumTcps ()=0
	Get number of TCPs for which the solver has been configured. More...

virtual bool	appendLink (const std::vector< double > &x)=0
	Append an additional link. More...

virtual bool	restoreOriginalChain ()=0
	Restore original kinematic chain. More...

virtual bool	changeOrigin (const std::vector< double > &x_old_obj, const std::vector< double > &x_new_old, std::vector< double > &x_new_obj)=0
	Change origin in which a pose is expressed. More...

virtual bool	fwdKin (const std::vector< double > &q, std::vector< double > &x)=0
	Perform forward kinematics. More...

virtual bool	poseDiff (const std::vector< double > &xLhs, const std::vector< double > &xRhs, std::vector< double > &xOut)=0
	Obtain difference between supplied pose inputs. More...

virtual bool	invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame=BASE_FRAME)=0
	Perform inverse kinematics. More...

virtual bool	diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame=BASE_FRAME)=0
	Perform differential inverse kinematics. More...

virtual bool	invDyn (const std::vector< double > &q, std::vector< double > &t)=0
	Perform inverse dynamics. More...

virtual bool	invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< std::vector< double >> &fexts, std::vector< double > &t)
	Perform inverse dynamics. More...

virtual bool	invDyn (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, reference_frame frame=BASE_FRAME)=0
	Perform inverse dynamics. More...

Member Enumeration Documentation

◆ reference_frame

enum roboticslab::ICartesianSolver::reference_frame

Enumerator
BASE_FRAME	Base frame.
TCP_FRAME	End-effector frame (TCP)

Member Function Documentation

◆ appendLink()

virtual bool roboticslab::ICartesianSolver::appendLink ( const std::vector< double > & x )

pure virtual

Parameters

x	6-element vector describing end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ changeOrigin()

virtual bool roboticslab::ICartesianSolver::changeOrigin	(	const std::vector< double > &	x_old_obj,
		const std::vector< double > &	x_new_old,
		std::vector< double > &	x_new_obj
	)

pure virtual

Parameters

x_old_obj_in	6-element vector describing a pose in cartesian space, expressed in the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
x_new_old	6-element vector describing a transformation from the new to the old frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
x_new_obj	6-element vector describing a pose in cartesian space, expressed in the new frame; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ diffInvKin()

virtual bool roboticslab::ICartesianSolver::diffInvKin	(	const std::vector< double > &	q,
		const std::vector< double > &	xdot,
		std::vector< double > &	qdot,
		reference_frame	frame = `BASE_FRAME`
	)

pure virtual

Parameters

q	Vector describing current position in joint space (meters or degrees).
xdot	6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second).
qdot	Vector describing target velocity in joint space (meters/second or degrees/second).
frame	Points at the reference_frame the desired position is expressed in.

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ fwdKin()

virtual bool roboticslab::ICartesianSolver::fwdKin	(	const std::vector< double > &	q,
		std::vector< double > &	x
	)

pure virtual

Parameters

q	Vector describing a position in joint space (meters or degrees).
x	6-element vector describing same position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ getNumJoints()

virtual int roboticslab::ICartesianSolver::getNumJoints ( )

pure virtual

Returns: Number of joints.

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ getNumTcps()

virtual int roboticslab::ICartesianSolver::getNumTcps ( )

pure virtual

Returns: The number of TCPs.

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ invDyn() [1/3]

virtual bool roboticslab::ICartesianSolver::invDyn	(	const std::vector< double > &	q,
		const std::vector< double > &	qdot,
		const std::vector< double > &	qdotdot,
		const std::vector< double > &	ftip,
		std::vector< double > &	t,
		reference_frame	frame = `BASE_FRAME`
	)

pure virtual

Parameters

q	Vector describing current position in joint space (meters or degrees).
qdot	Vector describing current velocity in joint space (meters/second or degrees/second).
qdotdot	Vector describing current acceleration in joint space (meters/second² or degrees/second²).
ftip	Vector describing an external force applied to the robot tip, expressed in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).
t	6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).
frame	Points at the reference_frame `ftip` is expressed in.

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ invDyn() [2/3]

virtual bool roboticslab::ICartesianSolver::invDyn	(	const std::vector< double > &	q,
		const std::vector< double > &	qdot,
		const std::vector< double > &	qdotdot,
		const std::vector< std::vector< double >> &	fexts,
		std::vector< double > &	t
	)

inlinevirtual

Parameters

q	Vector describing current position in joint space (meters or degrees).
qdot	Vector describing current velocity in joint space (meters/second or degrees/second).
qdotdot	Vector describing current acceleration in joint space (meters/second² or degrees/second²).
fexts	vector of external forces applied to each robot segment, expressed in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).
t	6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).

Returns: true on success, false otherwise

◆ invDyn() [3/3]

virtual bool roboticslab::ICartesianSolver::invDyn	(	const std::vector< double > &	q,
		std::vector< double > &	t
	)

pure virtual

Assumes null joint velocities and accelerations, and no external forces.

Parameters

q	Vector describing current position in joint space (meters or degrees).
t	6-element vector describing desired forces in cartesian space; first three elements denote translational acceleration (meters/second²), last three denote angular acceleration (radians/second²).

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ invKin()

virtual bool roboticslab::ICartesianSolver::invKin	(	const std::vector< double > &	xd,
		const std::vector< double > &	qGuess,
		std::vector< double > &	q,
		reference_frame	frame = `BASE_FRAME`
	)

pure virtual

Parameters

xd	6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
qGuess	Vector describing current position in joint space (meters or degrees).
q	Vector describing target position in joint space (meters or degrees).
frame	Points at the reference_frame the desired position is expressed in.

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ poseDiff()

virtual bool roboticslab::ICartesianSolver::poseDiff	(	const std::vector< double > &	xLhs,
		const std::vector< double > &	xRhs,
		std::vector< double > &	xOut
	)

pure virtual

The result is an infinitesimal displacement twist, i.e. a vector, for which the operation of addition makes physical sense.

Parameters

xLhs	6-element vector describing a pose in cartesian space (left hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
xRhs	6-element vector describing a pose in cartesian space (right hand side); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
xOut	6-element vector describing a pose in cartesian space (result); first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

◆ restoreOriginalChain()

virtual bool roboticslab::ICartesianSolver::restoreOriginalChain ( )

pure virtual

Returns: true on success, false otherwise

Implemented in roboticslab::KdlTreeSolver, roboticslab::KdlSolver, and roboticslab::AsibotSolver.

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

libraries/YarpPlugins/ICartesianSolver.h

Public Types

Public Member Functions

Member Enumeration Documentation

◆ reference_frame

Member Function Documentation

◆ appendLink()

◆ changeOrigin()

◆ diffInvKin()

◆ fwdKin()

◆ getNumJoints()

◆ getNumTcps()

◆ invDyn() [1/3]

◆ invDyn() [2/3]

◆ invDyn() [3/3]

◆ invKin()

◆ poseDiff()

◆ restoreOriginalChain()