#include <InverseKinematicsBase.h>

Public Types
using	JointPosition_t = typename JointState< NJOINTS, SCALAR >::Position

using	JointPositionsVector_t = std::vector< JointPosition_t, Eigen::aligned_allocator< JointPosition_t > >

using	RigidBodyPoseTpl = tpl::RigidBodyPose< SCALAR >

Public Member Functions
	InverseKinematicsBase ()=default
	default constructor More...

	InverseKinematicsBase (const InverseKinematicsSettings &settings)
	constructor with additional settings More...

virtual	~InverseKinematicsBase ()=default
	default destructor More...

virtual bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &eeBasePose, const std::vector< size_t > &freeJoints)=0
	compute inverse kinematics for an end-effector w.r.t robot base More...

virtual bool	computeInverseKinematics (JointPositionsVector_t &ikSolutions, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const std::vector< size_t > &freeJoints)=0
	compute inverse kinematics for an end-effector More...

virtual bool	computeInverseKinematicsCloseTo (JointPosition_t &ikSolution, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const JointPosition_t &queryJointPositions, const std::vector< size_t > &freeJoints=std::vector< size_t >())
	compute inverse kinematics for an end-effector More...

virtual bool	computeInverseKinematicsCloseTo (JointPosition_t &ikSolution, const RigidBodyPoseTpl &eeBasePose, const JointPosition_t &queryJointPositions, const std::vector< size_t > &freeJoints=std::vector< size_t >())
	compute inverse kinematics for an end-effector More...

const InverseKinematicsSettings &	getSettings () const

void	updateSettings (const InverseKinematicsSettings &settings)

Protected Attributes
InverseKinematicsSettings	settings_

Member Typedef Documentation

◆ JointPosition_t

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::JointPosition_t = typename JointState<NJOINTS, SCALAR>::Position

◆ JointPositionsVector_t

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::JointPositionsVector_t = std::vector<JointPosition_t, Eigen::aligned_allocator<JointPosition_t> >

◆ RigidBodyPoseTpl

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::RigidBodyPoseTpl = tpl::RigidBodyPose<SCALAR>

Constructor & Destructor Documentation

◆ InverseKinematicsBase() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::InverseKinematicsBase ( )

default

default constructor

◆ InverseKinematicsBase() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::InverseKinematicsBase ( const InverseKinematicsSettings & settings )

inline

constructor with additional settings

◆ ~InverseKinematicsBase()

template<size_t NJOINTS, typename SCALAR = double>

virtual ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::~InverseKinematicsBase ( )

virtualdefault

default destructor

Member Function Documentation

◆ computeInverseKinematics() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

virtual bool ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::computeInverseKinematics	(	JointPositionsVector_t &	ikSolutions,
		const RigidBodyPoseTpl &	eeBasePose,
		const std::vector< size_t > &	freeJoints
	)

pure virtual

compute inverse kinematics for an end-effector w.r.t robot base

Parameters

ikSolutions	vector of all solutions to the inverse kinematics problem
eeBasePose	end-effector pose in base coordinates
freeJoints	vector of indices of the free joints

Returns: true if solution found, false otherwise

◆ computeInverseKinematics() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

virtual bool ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::computeInverseKinematics	(	JointPositionsVector_t &	ikSolutions,
		const RigidBodyPoseTpl &	eeWorldPose,
		const RigidBodyPoseTpl &	baseWorldPose,
		const std::vector< size_t > &	freeJoints
	)

pure virtual

compute inverse kinematics for an end-effector

Parameters

ikSolutions	vector of all solutions to the inverse kinematics problem
eeWorldPose	end-effector pose in world coordinates
baseWorldPose	base pose in world coordinates
freeJoints	vector of indices of the free joints

Returns: true if solution found, false otherwise

◆ computeInverseKinematicsCloseTo() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

virtual bool ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::computeInverseKinematicsCloseTo	(	JointPosition_t &	ikSolution,
		const RigidBodyPoseTpl &	eeWorldPose,
		const RigidBodyPoseTpl &	baseWorldPose,
		const JointPosition_t &	queryJointPositions,
		const std::vector< size_t > &	freeJoints = `std::vector<size_t>()`
	)

inlinevirtual

compute inverse kinematics for an end-effector

Parameters

ikSolution	solution to the inverse kinematics problem which is closest to parameter 'queryJointPositions'
eeWorldPose	end-effector pose in world coordinates
baseWorldPose	base pose in world coordinates
freeJoints	vector of indices of the free joints

Returns: true if solution found, false otherwise

◆ computeInverseKinematicsCloseTo() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

virtual bool ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::computeInverseKinematicsCloseTo	(	JointPosition_t &	ikSolution,
		const RigidBodyPoseTpl &	eeBasePose,
		const JointPosition_t &	queryJointPositions,
		const std::vector< size_t > &	freeJoints = `std::vector<size_t>()`
	)

inlinevirtual

compute inverse kinematics for an end-effector

Parameters

ikSolution	solution to the inverse kinematics problem which is closest to parameter 'queryJointPositions'
eeBasePose	end-effector pose in base coordinates
freeJoints	vector of indices of the free joints

Returns: true if solution found, false otherwise

◆ getSettings()

template<size_t NJOINTS, typename SCALAR = double>

const InverseKinematicsSettings& ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::getSettings ( ) const

inline

◆ updateSettings()

template<size_t NJOINTS, typename SCALAR = double>

void ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::updateSettings ( const InverseKinematicsSettings & settings )

inline

Member Data Documentation

◆ settings_

template<size_t NJOINTS, typename SCALAR = double>

InverseKinematicsSettings ct::rbd::InverseKinematicsBase< NJOINTS, SCALAR >::settings_

protected

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/InverseKinematicsBase.h

Public Types

Public Member Functions

Protected Attributes

Member Typedef Documentation

◆ JointPosition_t

◆ JointPositionsVector_t

◆ RigidBodyPoseTpl

Constructor & Destructor Documentation

◆ InverseKinematicsBase() [1/2]

◆ InverseKinematicsBase() [2/2]

◆ ~InverseKinematicsBase()

Member Function Documentation

◆ computeInverseKinematics() [1/2]

◆ computeInverseKinematics() [2/2]

◆ computeInverseKinematicsCloseTo() [1/2]

◆ computeInverseKinematicsCloseTo() [2/2]

◆ getSettings()

◆ updateSettings()

Member Data Documentation

◆ settings_