roboticslab::ScrewTheoryIkProblem Class Reference

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

#include <ScrewTheoryIkProblem.hpp>

Public Types
using	Steps = std::vector< const ScrewTheoryIkSubproblem * >
	Ordered sequence of IK subproblems needed to solve a 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
bool	solve (const KDL::Frame &H_S_T, Solutions &solutions)
	Find all available solutions. More...
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. More...

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)

Private Attributes
const PoeExpression	poe
const Steps	steps
const bool	reversed
const int	soln

Detailed Description

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

See also

ScrewTheoryIkProblemBuilder

Member Function Documentation

create()

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).

Returns

An instance of an IK problem solver.

solve()

bool ScrewTheoryIkProblem::solve	(	const KDL::Frame &	H_S_T,
		Solutions &	solutions
	)

Parameters

H_S_T	Target pose in cartesian space.
solutions	Output vector of solutions stored as joint arrays.

Returns

True if all solutions are reachable, false otherwise.

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

• libraries/ScrewTheoryLib/ScrewTheoryIkProblem.hpp
• libraries/ScrewTheoryLib/ScrewTheoryIkProblem.cpp