Inverse Kinematics cost evaluator for NLP. More...

#include <IKCostEvaluator.h>

Inheritance diagram for ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >:

Public Member Functions
	IKCostEvaluator (size_t eeInd, const Eigen::Matrix3d &Qpos=Eigen::Matrix3d::Identity(), const Eigen::Matrix3d &Qrot=Eigen::Matrix3d::Identity())

	IKCostEvaluator (const std::string &costFunctionPath, const std::string &termTaskspaceName, const bool verbose=false)

	IKCostEvaluator (const std::string &costFunctionPath, const std::string &termTaskspaceName, const std::string &termJointPosName, const bool verbose=false)

	~IKCostEvaluator () override=default

void	setOptVector (std::shared_ptr< ct::optcon::tpl::OptVector< SCALAR >> optVector)
	opt vector needs to be set by NLP solver More...

void	setRegularizer (std::shared_ptr< IKRegularizerBase > reg)

ct::rbd::RigidBodyPose	getTargetPose ()

void	setTargetPose (const ct::rbd::RigidBodyPose &rbdPose)

void	setTargetPose (const core::StateVector< 3 > &w_pos_des, const Eigen::Quaterniond &w_q_des)

void	setTargetPose (const core::StateVector< 3 > &w_pos_des, const Eigen::Matrix3d &eulerXyz)

virtual SCALAR	eval () override
	evaluate cost function More...

virtual void	evalGradient (size_t grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &grad) override
	retrieve first-order derivative More...

virtual void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol) override
	create sparsity pattern for the hessian (simply fill up completely) More...

void	sparseHessianValues (const Eigen::VectorXd &jointAngles, const Eigen::VectorXd &obj_fac, Eigen::VectorXd &hes) override
	retrieve second order derivative More...

Public Member Functions inherited from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DiscreteCostEvaluatorBase ()=default

virtual	~DiscreteCostEvaluatorBase ()=default

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	NJOINTS = KINEMATICS::NJOINTS

Detailed Description

template<typename KINEMATICS, typename SCALAR = double>
class ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >

Inverse Kinematics cost evaluator for NLP.

Warning: currently this works only with fix-base systems

Constructor & Destructor Documentation

◆ IKCostEvaluator() [1/3]

template<typename KINEMATICS , typename SCALAR = double>

ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::IKCostEvaluator	(	size_t	eeInd,
		const Eigen::Matrix3d &	Qpos = `Eigen::Matrix3d::Identity()`,
		const Eigen::Matrix3d &	Qrot = `Eigen::Matrix3d::Identity()`
	)

inline

◆ IKCostEvaluator() [2/3]

template<typename KINEMATICS , typename SCALAR = double>

ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::IKCostEvaluator	(	const std::string &	costFunctionPath,
		const std::string &	termTaskspaceName,
		const bool	verbose = `false`
	)

inline

◆ IKCostEvaluator() [3/3]

template<typename KINEMATICS , typename SCALAR = double>

ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::IKCostEvaluator	(	const std::string &	costFunctionPath,
		const std::string &	termTaskspaceName,
		const std::string &	termJointPosName,
		const bool	verbose = `false`
	)

inline

References ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::~IKCostEvaluator().

◆ ~IKCostEvaluator()

template<typename KINEMATICS , typename SCALAR = double>

ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::~IKCostEvaluator ( )

overridedefault

Referenced by ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::IKCostEvaluator().

Member Function Documentation

◆ setOptVector()

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::setOptVector ( std::shared_ptr< ct::optcon::tpl::OptVector< SCALAR >> optVector )

inline

opt vector needs to be set by NLP solver

◆ setRegularizer()

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::setRegularizer ( std::shared_ptr< IKRegularizerBase > reg )

inline

◆ getTargetPose()

template<typename KINEMATICS , typename SCALAR = double>

ct::rbd::RigidBodyPose ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::getTargetPose ( )

inline

◆ setTargetPose() [1/3]

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::setTargetPose ( const ct::rbd::RigidBodyPose & rbdPose )

inline

References ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationQuaternion(), and ct::rbd::tpl::RigidBodyPose< SCALAR >::position().

◆ setTargetPose() [2/3]

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::setTargetPose	(	const core::StateVector< 3 > &	w_pos_des,
		const Eigen::Quaterniond &	w_q_des
	)

inline

◆ setTargetPose() [3/3]

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::setTargetPose	(	const core::StateVector< 3 > &	w_pos_des,
		const Eigen::Matrix3d &	eulerXyz
	)

inline

◆ eval()

template<typename KINEMATICS , typename SCALAR = double>

virtual SCALAR ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::eval ( )

inlineoverridevirtual

evaluate cost function

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

◆ evalGradient()

template<typename KINEMATICS , typename SCALAR = double>

virtual void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::evalGradient	(	size_t	grad_length,
		Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &	grad
	)

inlineoverridevirtual

retrieve first-order derivative

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

◆ getSparsityPatternHessian()

template<typename KINEMATICS , typename SCALAR = double>

virtual void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::getSparsityPatternHessian	(	Eigen::VectorXi &	iRow,
		Eigen::VectorXi &	jCol
	)

inlineoverridevirtual

create sparsity pattern for the hessian (simply fill up completely)

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

References i, and ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::NJOINTS.

◆ sparseHessianValues()

template<typename KINEMATICS , typename SCALAR = double>

void ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::sparseHessianValues	(	const Eigen::VectorXd &	jointAngles,
		const Eigen::VectorXd &	obj_fac,
		Eigen::VectorXd &	hes
	)

inlineoverridevirtual

retrieve second order derivative

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

References ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::NJOINTS.

Member Data Documentation

◆ NJOINTS

template<typename KINEMATICS , typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::NJOINTS = KINEMATICS::NJOINTS

static

Referenced by ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::getSparsityPatternHessian(), and ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >::sparseHessianValues().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/kinematics/ik_nlp/IKCostEvaluator.h

Public Member Functions

Static Public Attributes

Detailed Description

template<typename KINEMATICS, typename SCALAR = double> class ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >

Constructor & Destructor Documentation

◆ IKCostEvaluator() [1/3]

◆ IKCostEvaluator() [2/3]

◆ IKCostEvaluator() [3/3]

◆ ~IKCostEvaluator()

Member Function Documentation

◆ setOptVector()

◆ setRegularizer()

◆ getTargetPose()

◆ setTargetPose() [1/3]

◆ setTargetPose() [2/3]

◆ setTargetPose() [3/3]

◆ eval()

◆ evalGradient()

◆ getSparsityPatternHessian()

◆ sparseHessianValues()

Member Data Documentation

◆ NJOINTS

template<typename KINEMATICS, typename SCALAR = double>
class ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >