roboticslab::ScrewTheoryIkProblemBuilder Class Reference

Automated IK solution finder. More...

#include <ScrewTheoryIkProblem.hpp>

Classes
struct	PoeTerm
	Helper structure that holds the state of a POE term. More...

Public Member Functions
	ScrewTheoryIkProblemBuilder (const PoeExpression &poe)
	Constructor.
ScrewTheoryIkProblem *	build ()
	Finds a valid sequence of geometric subproblems that solve a global IK problem.

Private Member Functions
ScrewTheoryIkProblem::Steps	searchSolutions ()
void	refreshSimplificationState ()
void	simplify (int depth)
void	simplifyWithPadenKahanOne (const KDL::Vector &point)
void	simplifyWithPadenKahanThree (const KDL::Vector &point)
void	simplifyWithPardosOne ()
ScrewTheoryIkProblem::JointIdsToSubproblem	trySolve (int depth)

Static Private Member Functions
static std::vector< KDL::Vector >	searchPoints (const PoeExpression &poe)

Private Attributes
PoeExpression	poe
std::vector< KDL::Vector >	points
std::vector< KDL::Vector >	testPoints
std::vector< PoeTerm >	poeTerms

Static Private Attributes
static const int	MAX_SIMPLIFICATION_DEPTH = 2

Detailed Description

This class helps to automate the process for configuring a valid IK problem given its geometric data only. It is intended to take care of the generation and configuration of known subproblems, whereas particular joint-space solutions are meant to be computed on runtime by ScrewTheoryIkProblem.

Constructor & Destructor Documentation

ScrewTheoryIkProblemBuilder()

ScrewTheoryIkProblemBuilder::ScrewTheoryIkProblemBuilder

(

const PoeExpression &

poe

)

Parameters

poe	Product of exponentials (POE) formula.

Member Function Documentation

build()

ScrewTheoryIkProblem * ScrewTheoryIkProblemBuilder::build

(

)

Returns

An instance of an IK problem solver if valid, null otherwise.

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

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