ScrewTheoryLib

Contains classes related to Screw Theory solvers and tools. More...

Classes
class	roboticslab::ConfigurationSelector
	Abstract base class for a robot configuration strategy selector. More...
class	roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement
	IK solver configuration strategy selector based on the overall displacement of all joints. More...
class	roboticslab::ConfigurationSelectorHumanoidGait
	IK solver configuration strategy selector based on human walking. More...
class	roboticslab::ConfigurationSelectorFactory
	Base factory class for ConfigurationSelector. More...
class	roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory
	Implementation factory class for ConfigurationSelectorLeastOverallAngularDisplacement. More...
class	roboticslab::ConfigurationSelectorHumanoidGaitFactory
	Implementation factory class for ConfigurationSelectorHumanoidGait. More...
class	roboticslab::MatrixExponential
	Abstraction of a term in a product of exponentials (POE) formula. More...
class	roboticslab::PoeExpression
	Abstraction of a product of exponentials (POE) formula. More...
class	roboticslab::ScrewTheoryIkSubproblem
	Interface shared by all IK subproblems found in Screw Theory applied to Robotics. More...
class	roboticslab::ScrewTheoryIkProblem
	Proxy IK problem solver class that iterates over a sequence of subproblems. More...
class	roboticslab::ScrewTheoryIkProblemBuilder
	Automated IK solution finder. More...
class	roboticslab::PadenKahanOne
	First Paden-Kahan subproblem. More...
class	roboticslab::PadenKahanTwo
	Second Paden-Kahan subproblem. More...
class	roboticslab::PadenKahanThree
	Third Paden-Kahan subproblem. More...
class	roboticslab::PardosGotorOne
	First Pardos-Gotor subproblem. More...
class	roboticslab::PardosGotorTwo
	Second Pardos-Gotor subproblem. More...
class	roboticslab::PardosGotorThree
	Third Pardos-Gotor subproblem. More...
class	roboticslab::PardosGotorFour
	Fourth Pardos-Gotor subproblem. More...

Functions
KDL::Rotation	roboticslab::vectorPow2 (const KDL::Vector &v)
	Multiply a vector by itself to obtain a square matrix. More...
double	roboticslab::normalizeAngle (double angle)
	Clip an angle value between certain bounds. More...

Detailed Description

Proof of concept for a kinematics library based on screw theory concepts applied to robotics. This implementation is mainly focused on solving inverse kinematics problems in an efficient and effective manner via closed-form geometric solutions. Comparing this approach with a tradicional numeric-based approach yields ([4]):

• faster solutions, since there are no iterations involved;
• exact solutions, since the direct formulation guarantees convergence;
• multiple solutions and the possibility to choose the better ones.

See also

[1]

Function Documentation

normalizeAngle()

double roboticslab::normalizeAngle ( double  angle )

inline

Values that exceed [-pi pi] are normalized to fit this range. Values close to -pi are approximated as pi.

Parameters

angle

Magnitude of the requested angle.

Returns

Normalized angle.

vectorPow2()

KDL::Rotation roboticslab::vectorPow2 ( const KDL::Vector &  v )

inline

Given a column-vector v, computes v*v'.

Parameters

v	Input vector.

Returns

Resulting square matrix.