The KdlTreeSolver class implements ICartesianSolver.

#include <KdlTreeSolver.hpp>

Inheritance diagram for roboticslab::KdlTreeSolver:

Public Member Functions
int	getNumJoints () override
	Get number of joints for which the solver has been configured. More...

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

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

bool	restoreOriginalChain () override
	Restore original kinematic chain. More...

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

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

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

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

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

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

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) override
	Perform inverse dynamics. More...

bool	open (yarp::os::Searchable &config) override

bool	close () override

Public Member Functions inherited from roboticslab::ICartesianSolver
virtual	~ICartesianSolver ()=default
	Destructor.

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...

Protected Attributes
std::vector< std::string >	endpoints

std::map< std::string, std::string >	mergedEndpoints

KDL::Tree	tree

KDL::TreeFkSolverPos *	fkSolverPos

KDL::TreeIkSolverPos *	ikSolverPos

KDL::TreeIkSolverVel *	ikSolverVel

KDL::TreeIdSolver *	idSolver

Additional Inherited Members
Public Types inherited from roboticslab::ICartesianSolver
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...

Member Function Documentation

◆ appendLink()

bool KdlTreeSolver::appendLink ( const std::vector< double > & x )

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ changeOrigin()

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

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ diffInvKin()

bool KdlTreeSolver::diffInvKin	(	const std::vector< double > &	q,
		const std::vector< double > &	xdot,
		std::vector< double > &	qdot,
		reference_frame	frame
	)

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ fwdKin()

bool KdlTreeSolver::fwdKin	(	const std::vector< double > &	q,
		std::vector< double > &	x
	)

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ getNumJoints()

int KdlTreeSolver::getNumJoints ( )

overridevirtual

Returns: Number of joints.

Implements roboticslab::ICartesianSolver.

◆ getNumTcps()

int KdlTreeSolver::getNumTcps ( )

overridevirtual

Returns: The number of TCPs.

Implements roboticslab::ICartesianSolver.

◆ invDyn() [1/2]

bool KdlTreeSolver::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
	)

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ invDyn() [2/2]

bool KdlTreeSolver::invDyn	(	const std::vector< double > &	q,
		std::vector< double > &	t
	)

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ invKin()

bool KdlTreeSolver::invKin	(	const std::vector< double > &	xd,
		const std::vector< double > &	qGuess,
		std::vector< double > &	q,
		reference_frame	frame
	)

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ poseDiff()

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

overridevirtual

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

Implements roboticslab::ICartesianSolver.

◆ restoreOriginalChain()

bool KdlTreeSolver::restoreOriginalChain ( )

overridevirtual

Returns: true on success, false otherwise

Implements roboticslab::ICartesianSolver.

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

libraries/YarpPlugins/KdlTreeSolver/KdlTreeSolver.hpp
libraries/YarpPlugins/KdlTreeSolver/DeviceDriverImpl.cpp
libraries/YarpPlugins/KdlTreeSolver/ICartesianSolverImpl.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ appendLink()

◆ changeOrigin()

◆ diffInvKin()

◆ fwdKin()

◆ getNumJoints()

◆ getNumTcps()

◆ invDyn() [1/2]

◆ invDyn() [2/2]

◆ invKin()

◆ poseDiff()

◆ restoreOriginalChain()