Abstract base class for a cartesian solver.

#include <ICartesianSolver.h>

Inheritance diagram for roboticslab::ICartesianSolver:

Public Types
enum class	Frame { BASE = yarp::os::createVocab32('c','p','f','b') , TCP = yarp::os::createVocab32('c','p','f','t') }
	Lists supported reference frames. More...

enum	reference_frame { BASE_FRAME = static_cast<int>(Frame::BASE) , TCP_FRAME = static_cast<int>(Frame::TCP) }

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

virtual yarp::dev::ReturnValue	getNumJoints (std::size_t &numJoints)=0
	Get number of joints for which the solver has been configured.

virtual yarp::dev::ReturnValue	getNumTcps (std::size_t &numTcps)=0
	Get number of TCPs for which the solver has been configured.

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

virtual yarp::dev::ReturnValue	restoreOriginalChain ()=0
	Restore original kinematic chain.

virtual yarp::dev::ReturnValue	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.

virtual yarp::dev::ReturnValue	forwardKinematics (const std::vector< double > &q, std::vector< double > &x)=0
	Perform forward kinematics.

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

virtual yarp::dev::ReturnValue	inverseKinematics (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, Frame frame=Frame::BASE)=0
	Perform inverse kinematics.

virtual yarp::dev::ReturnValue	diffInverseKinematics (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, Frame frame=Frame::BASE)=0
	Perform differential inverse kinematics.

virtual yarp::dev::ReturnValue	inverseDynamics (const std::vector< double > &q, std::vector< double > &t)=0
	Perform inverse dynamics.

virtual yarp::dev::ReturnValue	inverseDynamics (const std::vector< double > &q, const std::vector< double > &qdot, const std::vector< double > &qdotdot, const std::vector< double > &ftip, std::vector< double > &t, Frame frame=Frame::BASE)=0
	Perform inverse dynamics.

virtual bool	invKin (const std::vector< double > &xd, const std::vector< double > &qGuess, std::vector< double > &q, reference_frame frame=static_cast< reference_frame >(Frame::BASE))

virtual bool	diffInvKin (const std::vector< double > &q, const std::vector< double > &xdot, std::vector< double > &qdot, reference_frame frame=static_cast< reference_frame >(Frame::BASE))

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=static_cast< reference_frame >(Frame::BASE))

Member Enumeration Documentation

◆ Frame

enum class roboticslab::ICartesianSolver::Frame

strong

Enumerator
BASE	Base frame.
TCP	End-effector frame (TCP)

Member Function Documentation

◆ appendLink()

virtual yarp::dev::ReturnValue 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 AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ changeOrigin()

virtual yarp::dev::ReturnValue 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 AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ diffInverseKinematics()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::diffInverseKinematics	(	const std::vector< double > &	q,
		const std::vector< double > &	xdot,
		std::vector< double > &	qdot,
		Frame	frame = `Frame::BASE`
	)

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 frame the desired position is expressed in.

Returns: true on success, false otherwise

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ forwardKinematics()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::forwardKinematics	(	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 AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ getNumJoints()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::getNumJoints ( std::size_t & numJoints )

pure virtual

Returns: Number of joints.

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ getNumTcps()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::getNumTcps ( std::size_t & numTcps )

pure virtual

Returns: The number of TCPs.

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ inverseDynamics() [1/2]

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::inverseDynamics	(	const std::vector< double > &	q,
		const std::vector< double > &	qdot,
		const std::vector< double > &	qdotdot,
		const std::vector< double > &	ftip,
		std::vector< double > &	t,
		Frame	frame = `Frame::BASE`
	)

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 frame `ftip` is expressed in.

Returns: true on success, false otherwise

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ inverseDynamics() [2/2]

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::inverseDynamics	(	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 AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ inverseKinematics()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::inverseKinematics	(	const std::vector< double > &	xd,
		const std::vector< double > &	qGuess,
		std::vector< double > &	q,
		Frame	frame = `Frame::BASE`
	)

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 frame the desired position is expressed in.

Returns: true on success, false otherwise

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ poseDiff()

virtual yarp::dev::ReturnValue 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 AsibotSolver, KdlSolver, and KdlTreeSolver.

◆ restoreOriginalChain()

virtual yarp::dev::ReturnValue roboticslab::ICartesianSolver::restoreOriginalChain ( )

pure virtual

Returns: true on success, false otherwise

Implemented in AsibotSolver, KdlSolver, and KdlTreeSolver.

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

libraries/YarpPlugins/ICartesianSolver.h

Public Types

Public Member Functions

Member Enumeration Documentation

◆ Frame

Member Function Documentation

◆ appendLink()

◆ changeOrigin()

◆ diffInverseKinematics()

◆ forwardKinematics()

◆ getNumJoints()

◆ getNumTcps()

◆ inverseDynamics() [1/2]

◆ inverseDynamics() [2/2]

◆ inverseKinematics()

◆ poseDiff()

◆ restoreOriginalChain()