IterativeMultiIK Class Reference

Interface for iterative inverse kinematics algorithms for problems or devices that utilize more than one end-effector. More...

#include <IterativeMultiIK.hpp>

Inherited by JacobianIKSolverM.

Public Types
typedef rw::core::Ptr< IterativeMultiIK >	Ptr
	smart pointer type to this class

Public Member Functions
virtual	~IterativeMultiIK ()
	Destructor.
virtual std::vector< rw::math::Q >	solve (const std::vector< rw::math::Transform3D< double >> &baseTend, const kinematics::State &state) const =0
	Calculates the inverse kinematics. More...
virtual void	setMaxError (const std::vector< double > &maxError)
	Sets the maximal error for a solution. More...
virtual std::vector< double >	getMaxError () const
	Returns the maximal error for a solution. More...
virtual void	setMaxIterations (int maxIterations)
	Sets the maximal number of iterations allowed. More...
virtual int	getMaxIterations () const
	Returns the maximal number of iterations.
virtual rw::core::PropertyMap &	getProperties ()
	Returns the PropertyMap. More...
virtual const rw::core::PropertyMap &	getProperties () const
	Returns the PropertyMap return Reference to the PropertyMap.

Protected Member Functions
	IterativeMultiIK (size_t nrOfEndEff)
	Constructor.

Detailed Description

Interface for iterative inverse kinematics algorithms for problems or devices that utilize more than one end-effector.

The IterativeMultiIK interface provides an interface for calculating the inverse kinematics of a device with multiple end-effectors. That is to calculate \(\mathbf{q}\) such that \(\robabx{base}{end}{\mathbf{T}}(\mathbf{q})= \robabx{}{desired}{\mathbf{T}}\).

By default it solves the problem beginning at the robot base and ending with the frame defined as the end of the devices, and which is accessible through the Device::getEnd() method.

Member Function Documentation

getMaxError()

virtual std::vector<double> getMaxError ( ) const

virtual

Returns the maximal error for a solution.

Returns

Maximal error

getProperties()

virtual rw::core::PropertyMap& getProperties ( )

virtual

Returns the PropertyMap.

Returns

Reference to the PropertyMap

setMaxError()

virtual void setMaxError ( const std::vector< double > &  maxError )

virtual

Sets the maximal error for a solution.

The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.

Parameters

maxError

[in] the maxError. It will be assumed that maxError > 0

setMaxIterations()

virtual void setMaxIterations ( int  maxIterations )

virtual

Sets the maximal number of iterations allowed.

Parameters

maxIterations

[in] maximal number of iterations

solve()

virtual std::vector<rw::math::Q> solve ( const std::vector< rw::math::Transform3D< double >> &  baseTend, const kinematics::State &  state  ) const

pure virtual

Calculates the inverse kinematics.

Given a desired \(\robabx{}{desired}{\mathbf{T}}\) and the current state, the method solves the inverse kinematics problem. If no solution is found with the required precision and within the specified number of iterations it will return an empty list.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, it is checked to be within the bounds of the configuration space.

Parameters

baseTend	[in] Desired base to end transformation \( \robabx{}{desired}{\mathbf{T}}\)
state	[in] State of the device from which to start the iterations

Returns

List of solutions. Notice that the list may be empty.

Implemented in JacobianIKSolverM.

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

• IterativeMultiIK.hpp