Proxy IK problem solver class that iterates over a sequence of subproblems. More...

Public Types
using	JointIdsToSubproblem = std::pair< std::vector< int >, const ScrewTheoryIkSubproblem * >
	Pair of joint ids and an their associated local IK subproblem.

using	Steps = std::vector< JointIdsToSubproblem >
	Ordered sequence of IK subproblems that solve a global IK problem.

using	Solutions = std::vector< KDL::JntArray >
	Collection of global IK solutions.

Public Member Functions
	~ScrewTheoryIkProblem ()
	Destructor.

	ScrewTheoryIkProblem (const ScrewTheoryIkProblem &)=delete

ScrewTheoryIkProblem &	operator= (const ScrewTheoryIkProblem &)=delete

std::vector< bool >	solve (const KDL::Frame &H_S_T, const KDL::JntArray &reference, Solutions &solutions)
	Find all available solutions.

std::vector< bool >	solve (const KDL::Frame &H_S_T, Solutions &solutions)

int	solutions () const
	Number of global IK solutions.

const Steps &	getSteps () const
	Solution of the IK problem (if available)

bool	isReversed () const
	Whether the computed solution is reversed.

Static Public Member Functions
static ScrewTheoryIkProblem *	create (const PoeExpression &poe, const Steps &steps, bool reversed=false)
	Creates an IK solver instance given a sequence of known subproblems.

Private Types
enum	poe_term { EXP_KNOWN , EXP_COMPUTED , EXP_UNKNOWN }

using	Frames = std::vector< KDL::Frame >

using	PoeTerms = std::vector< poe_term >

Private Member Functions
	ScrewTheoryIkProblem (const PoeExpression &poe, const Steps &steps, bool reversed)

void	recalculateFrames (const Solutions &solutions, Frames &frames, PoeTerms &poeTerms)

bool	recalculateFrames (const Solutions &solutions, Frames &frames, PoeTerms &poeTerms, bool backwards)

KDL::Frame	transformPoint (const KDL::JntArray &jointValues, const PoeTerms &poeTerms)

Detailed Description

This class is immutable. Instantiation is allowed by means of a static builder method.

Member Function Documentation

ScrewTheoryIkProblem * ScrewTheoryIkProblem::create	(	const PoeExpression &	poe,
		const Steps &	steps,
		bool	reversed = `false`
	)

static

Parameters

poe	A product of exponentials (POE) formula.
steps	Collection of subproblems that solve this particular IK problem.
reversed	True if the POE has been reversed (in order to find a valid solution).

std::vector< bool > ScrewTheoryIkProblem::solve	(	const KDL::Frame &	H_S_T,
		const KDL::JntArray &	reference,
		Solutions &	solutions
	)

Parameters

H_S_T	Target pose in cartesian space.
reference	Known nearby solutions to be used as reference in case a singularity is found.
solutions	Output vector of solutions stored as joint arrays.

Returns: Vector of Booleans indicating whether the associated solution is reachable.

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