IK_Jacobian Class Reference

#include <planners/ik_mpep/IK_Jacobian.h>

Inherits IK_InvKinBase.

Inherited by LocalPlannerClosed, and LocalPlannerClosed.

Inheritance diagram for IK_Jacobian:

[legend]Collaboration diagram for IK_Jacobian:

[legend]List of all members.

Public Member Functions
	IK_Jacobian ()
virtual	~IK_Jacobian ()
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	Plan ()
void	SetTrajectory (std::vector< Frame > &traj)
void	SetObstacleTolerance (double tol)
double	GetObstacleTolerance ()
void	SetHomogeneousGain (double gain)
double	GetHomogeneousGain ()
void	SetObstacleDistGain (double gain)
double	GetObstacleDistGain ()
void	SetPathTolerence (double tol)
double	GetPathTolerence ()
void	SetNumObstaclePt (int num)
int	GetNumObstaclePt ()
void	SetOrientation (bool bOrient)
bool	GetOrientation (bool bOrient)
void	SetPosition (bool bOrient)
bool	GetPosition (bool bOrient)
Protected Member Functions
void	InitNewSearch ()
bool	GetClosestValues (const Configuration &config)
void	CheckJointLimits (Configuration &config)
void	CheckJointVelocities (Configuration &config)
double	Distance (Frame &frame1, Frame &frame2)
VectorN	ComputeHomogeneousTerm (CJacobian &jacobian, Matrixmxn &mJEnd, Matrixmxn &mJEndInv, VectorN &vEndEffVel)
VectorN	ComputeEndEffVel (Frame &frStart, Frame &frEnd)
Protected Attributes
int	m_nObsPoint
bool	m_bPosition
bool	m_bOrientation
double	m_dObsTol
double	m_dHomoGain
double	m_dObsDistGain
double	m_dAngTol
double	m_dPathTol
int	m_nDof
int	m_nToolFrame
Frame	m_frEndEffector
double	m_dTotalObsDist
R_OpenChain *	m_pRobot
std::vector< closeValues >	m_vClosestPoints
std::vector< Frame >	poses

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Detailed Description

Definition at line 27 of file IK_Jacobian.h.

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Constructor & Destructor Documentation

IK_Jacobian::IK_Jacobian (   )

Definition at line 47 of file IK_Jacobian.cpp. References PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, DEFAULT_ANG_TOL, DEFAULT_HOMO_GAIN, DEFAULT_OBS_GAIN, DEFAULT_OBS_TOL, DEFAULT_PATH_TOL, CD_BasicStyle::DOF(), FRAMEDOF, m_dAngTol, m_dHomoGain, m_dObsDistGain, m_dObsTol, m_dPathTol, m_nDof, m_nObsPoint, m_vClosestPoints, and PL_Boolean_Output::path. Here is the call graph for this function:

IK_Jacobian::~IK_Jacobian (   )  [virtual]

Definition at line 71 of file IK_Jacobian.cpp. References PA_Points::Clear(), m_vClosestPoints, and PL_Boolean_Output::path. Here is the call graph for this function:

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Member Function Documentation

void IK_Jacobian::CheckJointLimits (  Configuration &  config  )  [protected]

Definition at line 667 of file IK_Jacobian.cpp. References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::JointMin(), and m_nDof. Here is the call graph for this function:

void IK_Jacobian::CheckJointVelocities (  Configuration &  config  )  [protected]

Definition at line 682 of file IK_Jacobian.cpp. References m_nDof, and MAX_JOINT_VEL.

VectorN IK_Jacobian::ComputeEndEffVel (  Frame &  frStart, Frame &  frEnd )  [protected]

Definition at line 115 of file IK_Jacobian.cpp. References Matrix4x4::Inverse(), m_bOrientation, m_bPosition, ROUNDING_ERROR, VectorN::SetLength(), and Matrix4x4::values. Here is the call graph for this function:

VectorN IK_Jacobian::ComputeHomogeneousTerm (  CJacobian &  jacobian, Matrixmxn &  mJEnd, Matrixmxn &  mJEndInv, VectorN &  vEndEffVel )  [protected]

Definition at line 196 of file IK_Jacobian.cpp. References CJacobian::GetJointFrame(), CJacobian::GetJointWorldFrame(), CJacobian::GetMatrix(), Frame::GetTranslationVector(), Matrix4x4::Identity(), Matrixmxn::Inverse(), LogMatrix, LogVector, m_dHomoGain, m_dObsDistGain, m_dTotalObsDist, m_nDof, m_nObsPoint, m_vClosestPoints, VectorN::Magnitude(), MAX_OBS_VEL, CJacobian::SetInterestPoint(), SOI_GAIN_DISTANCE, Matrix4x4::Translate(), and UNITY_GAIN_DISTANCE. Here is the call graph for this function:

double IK_Jacobian::Distance (  Frame &  frame1, Frame &  frame2 )  [protected]

Definition at line 736 of file IK_Jacobian.cpp. References Frame::GetTranslationVector(), and Vector4::Magnitude(). Here is the call graph for this function:

bool IK_Jacobian::GetClosestValues (  const Configuration &  config  )  [protected]

Definition at line 515 of file IK_Jacobian.cpp. References PL_HasCollisionDetector::collisionDetector, closeValues::distance, INFINITY, m_nObsPoint, and m_vClosestPoints.

double IK_Jacobian::GetHomogeneousGain (   )  [inline]

Definition at line 47 of file IK_Jacobian.h. References m_dHomoGain.

int IK_Jacobian::GetNumObstaclePt (   )  [inline]

Definition at line 59 of file IK_Jacobian.h. References m_nObsPoint.

double IK_Jacobian::GetObstacleDistGain (   )  [inline]

Definition at line 51 of file IK_Jacobian.h. References m_dObsDistGain.

double IK_Jacobian::GetObstacleTolerance (   )  [inline]

Definition at line 43 of file IK_Jacobian.h. References m_dObsTol.

bool IK_Jacobian::GetOrientation (  bool  bOrient  )  [inline]

Definition at line 63 of file IK_Jacobian.h. References m_bOrientation.

double IK_Jacobian::GetPathTolerence (   )  [inline]

Definition at line 55 of file IK_Jacobian.h. References m_dPathTol.

bool IK_Jacobian::GetPosition (  bool  bOrient  )  [inline]

Definition at line 65 of file IK_Jacobian.h. References m_bPosition.

void IK_Jacobian::InitNewSearch (   )  [protected, virtual]

Reimplemented from IK_InvKinBase. Definition at line 486 of file IK_Jacobian.cpp.

bool IK_Jacobian::Plan (   )  [virtual]

Reimplemented from IK_InvKinBase. Reimplemented in LocalPlannerClosed, and LocalPlannerClosed. Definition at line 308 of file IK_Jacobian.cpp. References PL_HasCollisionDetector::collisionDetector, PlannerBase::GetStartConfig(), CD_Bool::IsInterfering(), and PlannerBase::StartTimer(). Referenced by Jacobian_TrajPlanner::Plan(). Here is the call graph for this function:

void IK_Jacobian::SetCollisionDetector (  CD_BasicStyle *  collisionDetector  )  [virtual]

Reimplemented from PL_HasCollisionDetector. Definition at line 84 of file IK_Jacobian.cpp. References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::GetFrameManager(), FrameManager::GetFrameRef(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), Matrix4x4::Identity(), m_frEndEffector, m_nDof, m_nToolFrame, and m_pRobot. Referenced by ServerBase::RefreshPlanner(), PL_PRM_ClosedLocalJacobian::SetCollisionDetector(), PL_RGD_PRM::SetCollisionDetector(), PL_PRM_ClosedChain::SetCollisionDetector(), and Jacobian_TrajPlanner::SetCollisionDetector(). Here is the call graph for this function:

void IK_Jacobian::SetHomogeneousGain (  double  gain  )  [inline]

Definition at line 46 of file IK_Jacobian.h. References m_dHomoGain. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetNumObstaclePt (  int  num  )  [inline]

Definition at line 58 of file IK_Jacobian.h. References m_nObsPoint. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetObstacleDistGain (  double  gain  )  [inline]

Definition at line 50 of file IK_Jacobian.h. References m_dObsDistGain.

void IK_Jacobian::SetObstacleTolerance (  double  tol  )

Definition at line 490 of file IK_Jacobian.cpp. References PL_HasCollisionDetector::collisionDetector, and m_dObsTol. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetOrientation (  bool  bOrient  )  [inline]

Definition at line 62 of file IK_Jacobian.h. References m_bOrientation. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetPathTolerence (  double  tol  )  [inline]

Definition at line 54 of file IK_Jacobian.h. References m_dPathTol. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetPosition (  bool  bOrient  )  [inline]

Definition at line 64 of file IK_Jacobian.h. References m_bPosition. Referenced by PL_PRM_ClosedLocalJacobian::Plan(), PL_RGD_PRM::Plan(), PL_PRM_ClosedChain::Plan(), and Jacobian_TrajPlanner::Plan().

void IK_Jacobian::SetTrajectory (  std::vector< Frame > &  traj  )

Definition at line 720 of file IK_Jacobian.cpp. References LogMatrix, and poses. Referenced by Jacobian_TrajPlanner::SetTrajectory().

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Member Data Documentation

bool IK_Jacobian::m_bOrientation [protected]

Definition at line 71 of file IK_Jacobian.h. Referenced by ComputeEndEffVel(), GetOrientation(), and SetOrientation().

bool IK_Jacobian::m_bPosition [protected]

Definition at line 70 of file IK_Jacobian.h. Referenced by ComputeEndEffVel(), GetPosition(), and SetPosition().

double IK_Jacobian::m_dAngTol [protected]

Definition at line 75 of file IK_Jacobian.h. Referenced by IK_Jacobian().

double IK_Jacobian::m_dHomoGain [protected]

Definition at line 73 of file IK_Jacobian.h. Referenced by ComputeHomogeneousTerm(), GetHomogeneousGain(), IK_Jacobian(), and SetHomogeneousGain().

double IK_Jacobian::m_dObsDistGain [protected]

Definition at line 74 of file IK_Jacobian.h. Referenced by ComputeHomogeneousTerm(), GetObstacleDistGain(), IK_Jacobian(), and SetObstacleDistGain().

double IK_Jacobian::m_dObsTol [protected]

Definition at line 72 of file IK_Jacobian.h. Referenced by GetObstacleTolerance(), IK_Jacobian(), and SetObstacleTolerance().

double IK_Jacobian::m_dPathTol [protected]

Definition at line 76 of file IK_Jacobian.h. Referenced by GetPathTolerence(), IK_Jacobian(), and SetPathTolerence().

double IK_Jacobian::m_dTotalObsDist [protected]

Definition at line 81 of file IK_Jacobian.h. Referenced by ComputeHomogeneousTerm().

Frame IK_Jacobian::m_frEndEffector [protected]

Definition at line 80 of file IK_Jacobian.h. Referenced by SetCollisionDetector().

int IK_Jacobian::m_nDof [protected]

Definition at line 78 of file IK_Jacobian.h. Referenced by CheckJointLimits(), CheckJointVelocities(), ComputeHomogeneousTerm(), IK_Jacobian(), and SetCollisionDetector().

int IK_Jacobian::m_nObsPoint [protected]

Definition at line 69 of file IK_Jacobian.h. Referenced by ComputeHomogeneousTerm(), GetClosestValues(), GetNumObstaclePt(), IK_Jacobian(), and SetNumObstaclePt().

int IK_Jacobian::m_nToolFrame [protected]

Definition at line 79 of file IK_Jacobian.h. Referenced by SetCollisionDetector().

R_OpenChain* IK_Jacobian::m_pRobot [protected]

Definition at line 82 of file IK_Jacobian.h. Referenced by SetCollisionDetector().

std::vector<closeValues> IK_Jacobian::m_vClosestPoints [protected]

Definition at line 84 of file IK_Jacobian.h. Referenced by ComputeHomogeneousTerm(), GetClosestValues(), IK_Jacobian(), and ~IK_Jacobian().

std::vector<Frame> IK_Jacobian::poses [protected]

Definition at line 85 of file IK_Jacobian.h. Referenced by SetTrajectory().

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

• planners/ik_mpep/IK_Jacobian.h
• planners/ik_mpep/IK_Jacobian.cpp

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