cnoid::JointPath Class Reference

#include <JointPath.h>

Inheritance diagram for cnoid::JointPath:

Public Types
typedef LinkTraverse::iterator	iterator
typedef LinkTraverse::const_iterator	const_iterator

Public Member Functions
	JointPath ()
	JointPath (Link *base, Link *end)
	JointPath (Link *end)
	JointPath (const JointPath &org)=delete
JointPath &	operator= (const JointPath &rhs)=delete
bool	empty () const
int	size () const
int	numJoints () const
Link *	joint (int index) const
Link *	operator[] (int index) const
Link *	baseLink () const
Link *	endLink () const
bool	isJointDownward (int index) const
const std::vector< Link * > &	joints () const
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
LinkPath &	linkPath ()
const LinkPath &	linkPath () const
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) const
int	indexOf (const Link *link) const
virtual bool	hasCustomIK () const
bool	isCustomIkDisabled () const
void	setCustomIkDisabled (bool on)
bool	isBestEffortIkMode () const
void	setBestEffortIkMode (bool on)
void	setNumericalIkMaxIkError (double e)
void	setNumericalIkDeltaScale (double s)
void	setNumericalIkMaxIterations (int n)
void	setNumericalIkDampingConstant (double lambda)
void	customizeTarget (int numTargetElements, std::function< double(VectorXd &out_error)> errorFunc, std::function< void(MatrixXd &out_Jacobian)> jacobianFunc)
bool	calcInverseKinematics ()
JointPath &	storeCurrentPosition ()
JointPath &	setBaseLinkGoal (const Isometry3 &T)
virtual bool	calcInverseKinematics (const Isometry3 &T) override
virtual bool	calcRemainingPartForwardKinematicsForInverseKinematics () override
int	numIterations () const
std::string	name () const
void	setName (const std::string &name)
bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
bool	calcInverseKinematics (const Vector3 &base_p, const Matrix3 &base_R, const Vector3 &end_p, const Matrix3 &end_R)
void	calcJacobian (Eigen::MatrixXd &out_J) const
bool	hasAnalyticalIK () const
void	setNumericalIKenabled (bool on)
bool	isNumericalIkEnabled () const
bool	isBestEffortIKmode () const
void	setBestEffortIKmode (bool on)
void	setNumericalIKmaxIKerror (double e)
void	setNumericalIKdeltaScale (double s)
void	setNumericalIKmaxIterations (int n)
void	setNumericalIKdampingConstant (double lambda)
void	setNumericalIkTruncateRatio (double r)
Public Member Functions inherited from cnoid::InverseKinematics
virtual	~InverseKinematics ()
bool	calcInverseKinematics (const Vector3 &p, const Matrix3 &R)
	deprecated More...

Static Public Member Functions
static std::shared_ptr< JointPath >	getCustomPath (Body *body, Link *baseLink, Link *endLink)
static double	numericalIkDefaultDeltaScale ()
static int	numericalIkDefaultMaxIterations ()
static double	numericalIkDefaultMaxIkError ()
static double	numericalIkDefaultDampingConstant ()
static double	numericalIKdefaultDeltaScale ()
static int	numericalIKdefaultMaxIterations ()
static double	numericalIKdefaultMaxIKerror ()
static double	numericalIKdefaultDampingConstant ()
static double	numericalIkDefaultTruncateRatio ()

Member Typedef Documentation

const_iterator

typedef LinkTraverse::const_iterator cnoid::JointPath::const_iterator

iterator

typedef LinkTraverse::iterator cnoid::JointPath::iterator

Constructor & Destructor Documentation

JointPath() [1/4]

JointPath::JointPath

(

)

JointPath() [2/4]

JointPath::JointPath	(	Link *	base,
		Link *	end
	)

JointPath() [3/4]

JointPath::JointPath

(

Link *

end

)

JointPath() [4/4]

cnoid::JointPath::JointPath ( const JointPath &  org )

delete

Member Function Documentation

baseLink()

Link* cnoid::JointPath::baseLink ( ) const

inline

begin() [1/2]

iterator cnoid::JointPath::begin ( )

inline

begin() [2/2]

const_iterator cnoid::JointPath::begin ( ) const

inline

calcForwardKinematics()

void cnoid::JointPath::calcForwardKinematics ( bool  calcVelocity = false, bool  calcAcceleration = false  ) const

inline

calcInverseKinematics() [1/4]

bool JointPath::calcInverseKinematics

(

)

calcInverseKinematics() [2/4]

bool JointPath::calcInverseKinematics ( const Isometry3 &  T )

overridevirtual

Implements cnoid::InverseKinematics.

Reimplemented in cnoid::CustomJointPathBase.

calcInverseKinematics() [3/4]

bool JointPath::calcInverseKinematics	(	const Vector3 &	base_p,
		const Matrix3 &	base_R,
		const Vector3 &	end_p,
		const Matrix3 &	end_R
	)

calcInverseKinematics() [4/4]

bool cnoid::JointPath::calcInverseKinematics ( const Vector3 &  p, const Matrix3 &  R  )

inline

calcJacobian()

void JointPath::calcJacobian

(

Eigen::MatrixXd &

out_J

)

const

calcRemainingPartForwardKinematicsForInverseKinematics()

bool JointPath::calcRemainingPartForwardKinematicsForInverseKinematics ( )

overridevirtual

Reimplemented from cnoid::InverseKinematics.

customizeTarget()

void JointPath::customizeTarget	(	int	numTargetElements,
		std::function< double(VectorXd &out_error)>	errorFunc,
		std::function< void(MatrixXd &out_Jacobian)>	jacobianFunc
	)

empty()

bool cnoid::JointPath::empty ( ) const

inline

end() [1/2]

iterator cnoid::JointPath::end ( )

inline

end() [2/2]

const_iterator cnoid::JointPath::end ( ) const

inline

endLink()

Link* cnoid::JointPath::endLink ( ) const

inline

getCustomPath()

std::shared_ptr< JointPath > JointPath::getCustomPath ( Body *  body, Link *  baseLink, Link *  endLink  )

static

This function returns a joint path which may do analytical inverse kinematics when the body has the analytical one for a given path.

hasAnalyticalIK()

bool JointPath::hasAnalyticalIK

(

)

const

hasCustomIK()

bool JointPath::hasCustomIK ( ) const

virtual

Reimplemented in cnoid::CustomJointPathBase.

indexOf()

int JointPath::indexOf

(

const Link *

link

)

const

isBestEffortIkMode()

bool JointPath::isBestEffortIkMode

(

)

const

isBestEffortIKmode()

bool cnoid::JointPath::isBestEffortIKmode ( ) const

inline

isCustomIkDisabled()

bool cnoid::JointPath::isCustomIkDisabled ( ) const

inline

isJointDownward()

bool cnoid::JointPath::isJointDownward ( int  index ) const

inline

isNumericalIkEnabled()

bool cnoid::JointPath::isNumericalIkEnabled ( ) const

inline

joint()

Link* cnoid::JointPath::joint ( int  index ) const

inline

joints()

const std::vector<Link*>& cnoid::JointPath::joints ( ) const

inline

linkPath() [1/2]

LinkPath& cnoid::JointPath::linkPath ( )

inline

linkPath() [2/2]

const LinkPath& cnoid::JointPath::linkPath ( ) const

inline

name()

std::string cnoid::JointPath::name ( ) const

inline

numericalIkDefaultDampingConstant()

double JointPath::numericalIkDefaultDampingConstant ( )

static

numericalIKdefaultDampingConstant()

static double cnoid::JointPath::numericalIKdefaultDampingConstant ( )

inlinestatic

numericalIkDefaultDeltaScale()

double JointPath::numericalIkDefaultDeltaScale ( )

static

numericalIKdefaultDeltaScale()

static double cnoid::JointPath::numericalIKdefaultDeltaScale ( )

inlinestatic

numericalIkDefaultMaxIkError()

double JointPath::numericalIkDefaultMaxIkError ( )

static

numericalIKdefaultMaxIKerror()

static double cnoid::JointPath::numericalIKdefaultMaxIKerror ( )

inlinestatic

numericalIkDefaultMaxIterations()

int JointPath::numericalIkDefaultMaxIterations ( )

static

numericalIKdefaultMaxIterations()

static int cnoid::JointPath::numericalIKdefaultMaxIterations ( )

inlinestatic

numericalIkDefaultTruncateRatio()

double JointPath::numericalIkDefaultTruncateRatio ( )

static

Deprecated:

numIterations()

int JointPath::numIterations

(

)

const

numJoints()

int cnoid::JointPath::numJoints ( ) const

inline

operator=()

JointPath& cnoid::JointPath::operator= ( const JointPath &  rhs )

delete

operator[]()

Link* cnoid::JointPath::operator[] ( int  index ) const

inline

setBaseLinkGoal()

JointPath & JointPath::setBaseLinkGoal

(

const Isometry3 &

T

)

setBestEffortIkMode()

void JointPath::setBestEffortIkMode

(

bool

on

)

setBestEffortIKmode()

void cnoid::JointPath::setBestEffortIKmode ( bool  on )

inline

setCustomIkDisabled()

void cnoid::JointPath::setCustomIkDisabled ( bool  on )

inline

setName()

void cnoid::JointPath::setName ( const std::string &  name )

inline

setNumericalIkDampingConstant()

void JointPath::setNumericalIkDampingConstant

(

double

lambda

)

setNumericalIKdampingConstant()

void cnoid::JointPath::setNumericalIKdampingConstant ( double  lambda )

inline

setNumericalIkDeltaScale()

void JointPath::setNumericalIkDeltaScale

(

double

s

)

setNumericalIKdeltaScale()

void cnoid::JointPath::setNumericalIKdeltaScale ( double  s )

inline

setNumericalIKenabled()

void cnoid::JointPath::setNumericalIKenabled ( bool  on )

inline

setNumericalIkMaxIkError()

void JointPath::setNumericalIkMaxIkError

(

double

e

)

setNumericalIKmaxIKerror()

void cnoid::JointPath::setNumericalIKmaxIKerror ( double  e )

inline

setNumericalIkMaxIterations()

void JointPath::setNumericalIkMaxIterations

(

int

n

)

setNumericalIKmaxIterations()

void cnoid::JointPath::setNumericalIKmaxIterations ( int  n )

inline

setNumericalIkTruncateRatio()

void JointPath::setNumericalIkTruncateRatio

(

double

r

)

Deprecated:

This parameter is used when SVD is used to solve a numerical IK, but the current implementation uses the damped least square method instead of SVD by default. Therefore this parameter is meaningless in the current implementation.

size()

int cnoid::JointPath::size ( ) const

inline

storeCurrentPosition()

JointPath& cnoid::JointPath::storeCurrentPosition

(

)

---

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

• JointPath.h
• JointPath.cpp