The WholeBodyIK class provides an interface for simultaneously solving all the IK constraints of all BodyNodes and EndEffectors belonging to a single Skeleton. More...

#include <HierarchicalIK.hpp>

Inheritance diagram for dart::dynamics::WholeBodyIK:

Public Member Functions
std::shared_ptr< HierarchicalIK >	clone (const SkeletonPtr &_newSkel) const override
	Clone this HierarchicalIK module. More...

virtual std::shared_ptr< WholeBodyIK >	cloneWholeBodyIK (const SkeletonPtr &_newSkel) const
	Same as clone(), but produces a more complete type. More...

void	refreshIKHierarchy () override
	Refresh the IK hierarchy of this IK module. More...

bool	solve (bool applySolution=true)
	Solve the IK Problem. More...

bool	solve (Eigen::VectorXd &positions, bool applySolution=true)
	Same as solve(bool), but the positions vector will be filled with the solved positions. More...

bool	findSolution (Eigen::VectorXd &positions)
	Finds a solution of the IK problem without applying the solution. More...

bool	solveAndApply (bool allowIncompleteResult=true)
	Identical to findSolution(), but this function applies the solution when the solver successfully found a solution or `allowIncompleteResult` is set to true. More...

bool	solveAndApply (Eigen::VectorXd &positions, bool allowIncompleteResult=true)
	Identical to solveAndApply(bool), but `position` will be filled with the solved positions. More...

void	setObjective (const std::shared_ptr< optimizer::Function > &_objective)
	Set the objective function for this HierarchicalIK. More...

const std::shared_ptr< optimizer::Function > &	getObjective ()
	Get the objective function for this HierarchicalIK. More...

std::shared_ptr< const optimizer::Function >	getObjective () const
	Get the objective function for this HierarchicalIK. More...

void	setNullSpaceObjective (const std::shared_ptr< optimizer::Function > &_nsObjective)
	Set the null space objective for this HierarchicalIK. More...

const std::shared_ptr< optimizer::Function > &	getNullSpaceObjective ()
	Get the null space objective for this HierarchicalIK. More...

std::shared_ptr< const optimizer::Function >	getNullSpaceObjective () const
	Get the null space objective for this HierarchicalIK. More...

bool	hasNullSpaceObjective () const
	Returns true if this HierarchicalIK has a null space objective. More...

const std::shared_ptr< optimizer::Problem > &	getProblem ()
	Get the Problem that is being maintained by this HierarchicalIK module. More...

std::shared_ptr< const optimizer::Problem >	getProblem () const
	Get the Problem that is being maintained by this HierarchicalIK module. More...

void	resetProblem (bool _clearSeeds=false)
	Reset the Problem that is being maintained by this HierarchicalIK module. More...

void	setSolver (const std::shared_ptr< optimizer::Solver > &_newSolver)
	Set the Solver that should be used by this IK module, and set it up with the Problem that is configured by this IK module. More...

const std::shared_ptr< optimizer::Solver > &	getSolver ()
	Get the Solver that is being used by this IK module. More...

std::shared_ptr< const optimizer::Solver >	getSolver () const
	Get the Solver that is being used by this IK module. More...

const IKHierarchy &	getIKHierarchy () const
	Get the IK hierarchy of this IK module. More...

const std::vector< Eigen::MatrixXd > &	computeNullSpaces () const
	Compute the null spaces of each level of the hierarchy. More...

Eigen::VectorXd	getPositions () const
	Get the current joint positions of the Skeleton associated with this IK module. More...

void	setPositions (const Eigen::VectorXd &_q)
	Set the current joint positions of the Skeleton associated with this IK module. More...

SkeletonPtr	getSkeleton ()
	Get the Skeleton that this IK module is associated with. More...

ConstSkeletonPtr	getSkeleton () const
	Get the Skeleton that this IK module is associated with. More...

SkeletonPtr	getAffiliation ()
	This is the same as getSkeleton(). More...

ConstSkeletonPtr	getAffiliation () const
	This is the same as getSkeleton(). More...

void	clearCaches ()
	Clear the caches of this IK module. More...

Static Public Member Functions
static std::shared_ptr< WholeBodyIK >	create (const SkeletonPtr &_skel)
	Create a WholeBodyIK. More...

Protected Member Functions
	WholeBodyIK (const SkeletonPtr &_skel)
	Constructor. More...

void	initialize (const std::shared_ptr< HierarchicalIK > &my_ptr)
	Setup the module. More...

void	copyOverSetup (const std::shared_ptr< HierarchicalIK > &_otherIK) const
	Copy the setup of this HierarchicalIK module into another HierarchicalIK module. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

Protected Attributes
WeakSkeletonPtr	mSkeleton
	Pointer to the Skeleton that this IK is tied to. More...

IKHierarchy	mHierarchy
	Cache for the IK hierarcy. More...

std::shared_ptr< optimizer::Problem >	mProblem
	The Problem that this IK module is maintaining. More...

std::shared_ptr< optimizer::Solver >	mSolver
	The Solver that this IK module will use. More...

optimizer::FunctionPtr	mObjective
	The Objective of this IK module. More...

optimizer::FunctionPtr	mNullSpaceObjective
	The null space Objective of this IK module. More...

std::weak_ptr< HierarchicalIK >	mPtr
	Weak pointer to self. More...

Eigen::VectorXd	mLastPositions
	Cache for the last positions. More...

std::vector< Eigen::MatrixXd >	mNullSpaceCache
	Cache for null space computations. More...

Eigen::MatrixXd	mPartialNullspaceCache
	Cache for a partial null space computation. More...

Eigen::JacobiSVD< math::Jacobian >	mSVDCache
	Cache for the null space SVD. More...

math::Jacobian	mJacCache
	Cache for Jacobians. More...

std::set< Observer * >	mObservers
	List of current Observers. More...

Detailed Description

The WholeBodyIK class provides an interface for simultaneously solving all the IK constraints of all BodyNodes and EndEffectors belonging to a single Skeleton.

Constructor & Destructor Documentation

◆ WholeBodyIK()

dart::dynamics::WholeBodyIK::WholeBodyIK ( const SkeletonPtr & _skel )

protected

Constructor.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ clearCaches()

void dart::dynamics::HierarchicalIK::clearCaches ( )

inherited

Clear the caches of this IK module.

It should generally not be necessary to call this function.

◆ clone()

std::shared_ptr< HierarchicalIK > dart::dynamics::WholeBodyIK::clone ( const SkeletonPtr & _newSkel ) const

overridevirtual

Clone this HierarchicalIK module.

Implements dart::dynamics::HierarchicalIK.

◆ cloneWholeBodyIK()

std::shared_ptr< WholeBodyIK > dart::dynamics::WholeBodyIK::cloneWholeBodyIK ( const SkeletonPtr & _newSkel ) const

virtual

Same as clone(), but produces a more complete type.

◆ computeNullSpaces()

const std::vector< Eigen::MatrixXd > & dart::dynamics::HierarchicalIK::computeNullSpaces ( ) const

inherited

Compute the null spaces of each level of the hierarchy.

◆ copyOverSetup()

void dart::dynamics::HierarchicalIK::copyOverSetup ( const std::shared_ptr< HierarchicalIK > & _otherIK ) const

protectedinherited

Copy the setup of this HierarchicalIK module into another HierarchicalIK module.

◆ create()

std::shared_ptr< WholeBodyIK > dart::dynamics::WholeBodyIK::create ( const SkeletonPtr & _skel )

static

Create a WholeBodyIK.

◆ findSolution()

bool dart::dynamics::HierarchicalIK::findSolution ( Eigen::VectorXd & positions )

inherited

Finds a solution of the IK problem without applying the solution.

Parameters

[out] positions The solution of the IK problem. If the solver failed to find a solution then it will still set the position with the best guess. For example, iterative solvers will fill position with the last result of the iterations.

Returns: True if a solution is successfully found.

See also: solveAndApply()

◆ getAffiliation() [1/2]

SkeletonPtr dart::dynamics::HierarchicalIK::getAffiliation ( )

inherited

This is the same as getSkeleton().

It is used by the HierarchicalIKPtr to provide a common interface for the various IK smart pointer types.

◆ getAffiliation() [2/2]

ConstSkeletonPtr dart::dynamics::HierarchicalIK::getAffiliation ( ) const

inherited

This is the same as getSkeleton().

It is used by the HierarchicalIKPtr to provide a common interface for the various IK smart pointer types.

◆ getIKHierarchy()

const IKHierarchy & dart::dynamics::HierarchicalIK::getIKHierarchy ( ) const

inherited

Get the IK hierarchy of this IK module.

◆ getNullSpaceObjective() [1/2]

const std::shared_ptr< optimizer::Function > & dart::dynamics::HierarchicalIK::getNullSpaceObjective ( )

inherited

Get the null space objective for this HierarchicalIK.

◆ getNullSpaceObjective() [2/2]

std::shared_ptr< const optimizer::Function > dart::dynamics::HierarchicalIK::getNullSpaceObjective ( ) const

inherited

Get the null space objective for this HierarchicalIK.

◆ getObjective() [1/2]

const std::shared_ptr< optimizer::Function > & dart::dynamics::HierarchicalIK::getObjective ( )

inherited

Get the objective function for this HierarchicalIK.

◆ getObjective() [2/2]

std::shared_ptr< const optimizer::Function > dart::dynamics::HierarchicalIK::getObjective ( ) const

inherited

Get the objective function for this HierarchicalIK.

◆ getPositions()

Eigen::VectorXd dart::dynamics::HierarchicalIK::getPositions ( ) const

inherited

Get the current joint positions of the Skeleton associated with this IK module.

◆ getProblem() [1/2]

const std::shared_ptr< optimizer::Problem > & dart::dynamics::HierarchicalIK::getProblem ( )

inherited

Get the Problem that is being maintained by this HierarchicalIK module.

◆ getProblem() [2/2]

std::shared_ptr< const optimizer::Problem > dart::dynamics::HierarchicalIK::getProblem ( ) const

inherited

Get the Problem that is being maintained by this HierarchicalIK module.

◆ getSkeleton() [1/2]

SkeletonPtr dart::dynamics::HierarchicalIK::getSkeleton ( )

inherited

Get the Skeleton that this IK module is associated with.

◆ getSkeleton() [2/2]

ConstSkeletonPtr dart::dynamics::HierarchicalIK::getSkeleton ( ) const

inherited

Get the Skeleton that this IK module is associated with.

◆ getSolver() [1/2]

const std::shared_ptr< optimizer::Solver > & dart::dynamics::HierarchicalIK::getSolver ( )

inherited

Get the Solver that is being used by this IK module.

◆ getSolver() [2/2]

std::shared_ptr< const optimizer::Solver > dart::dynamics::HierarchicalIK::getSolver ( ) const

inherited

Get the Solver that is being used by this IK module.

◆ hasNullSpaceObjective()

bool dart::dynamics::HierarchicalIK::hasNullSpaceObjective ( ) const

inherited

Returns true if this HierarchicalIK has a null space objective.

◆ initialize()

void dart::dynamics::HierarchicalIK::initialize ( const std::shared_ptr< HierarchicalIK > & my_ptr )

protectedinherited

Setup the module.

◆ refreshIKHierarchy()

void dart::dynamics::WholeBodyIK::refreshIKHierarchy ( )

overridevirtual

Refresh the IK hierarchy of this IK module.

Implements dart::dynamics::HierarchicalIK.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ resetProblem()

void dart::dynamics::HierarchicalIK::resetProblem ( bool _clearSeeds = false )

inherited

Reset the Problem that is being maintained by this HierarchicalIK module.

This will clear out all Functions from the Problem and then configure the Problem to use this IK module's Objective and Constraint functions.

Setting _clearSeeds to true will clear out any seeds that have been loaded into the Problem.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setNullSpaceObjective()

void dart::dynamics::HierarchicalIK::setNullSpaceObjective ( const std::shared_ptr< optimizer::Function > & _nsObjective )

inherited

Set the null space objective for this HierarchicalIK.

◆ setObjective()

void dart::dynamics::HierarchicalIK::setObjective ( const std::shared_ptr< optimizer::Function > & _objective )

inherited

Set the objective function for this HierarchicalIK.

◆ setPositions()

void dart::dynamics::HierarchicalIK::setPositions ( const Eigen::VectorXd & _q )

inherited

Set the current joint positions of the Skeleton associated with this IK module.

The vector must include all DOFs in the Skeleton.

◆ setSolver()

void dart::dynamics::HierarchicalIK::setSolver ( const std::shared_ptr< optimizer::Solver > & _newSolver )

inherited

Set the Solver that should be used by this IK module, and set it up with the Problem that is configured by this IK module.

◆ solve() [1/2]

bool dart::dynamics::HierarchicalIK::solve ( bool applySolution = true )

inherited

Solve the IK Problem.

By default, the Skeleton itself will retain the solved joint positions. If you pass in false for applySolution, then the joint positions will be return to their original positions after the problem is solved.

Deprecated:: Deprecated in DART 6.8. Please use solveAndApply() instead.

◆ solve() [2/2]

bool dart::dynamics::HierarchicalIK::solve	(	Eigen::VectorXd &	positions,
		bool	applySolution = `true`
	)

inherited

Same as solve(bool), but the positions vector will be filled with the solved positions.

Deprecated:: Deprecated in DART 6.8. Please use solveAndApply() or findSolution() instead.

◆ solveAndApply() [1/2]

bool dart::dynamics::HierarchicalIK::solveAndApply ( bool allowIncompleteResult = true )

inherited

Identical to findSolution(), but this function applies the solution when the solver successfully found a solution or allowIncompleteResult is set to true.

Parameters

[in] allowIncompleteResult Allow to apply the solution even when the solver failed to find solution. This option would be useful when an iterative solver is used because they will often do a decent job of getting a result close to a solution even if it failed to find the solution.

Returns: True if a solution is successfully found

◆ solveAndApply() [2/2]

bool dart::dynamics::HierarchicalIK::solveAndApply	(	Eigen::VectorXd &	positions,
		bool	allowIncompleteResult = `true`
	)

inherited

Identical to solveAndApply(bool), but position will be filled with the solved positions.

Parameters

[out]	positions	The solution of the IK problem. If the solver failed to find a solution then it will still set the position with the best guess. For example, iterative solvers will fill `positions` with the last result of the iterations.
[in]	allowIncompleteResult	Allow to apply the solution even when the solver failed to find solution. This option would be useful when an iterative solver is used because they will often do a decent job of getting a result close to a solution even if it failed to find the solution.

Returns: True if a solution is successfully found

Member Data Documentation

◆ mHierarchy

IKHierarchy dart::dynamics::HierarchicalIK::mHierarchy

protectedinherited

Cache for the IK hierarcy.

◆ mJacCache

math::Jacobian dart::dynamics::HierarchicalIK::mJacCache

mutableprotectedinherited

Cache for Jacobians.

◆ mLastPositions

Eigen::VectorXd dart::dynamics::HierarchicalIK::mLastPositions

mutableprotectedinherited

Cache for the last positions.

◆ mNullSpaceCache

std::vector<Eigen::MatrixXd> dart::dynamics::HierarchicalIK::mNullSpaceCache

mutableprotectedinherited

Cache for null space computations.

◆ mNullSpaceObjective

optimizer::FunctionPtr dart::dynamics::HierarchicalIK::mNullSpaceObjective

protectedinherited

The null space Objective of this IK module.

◆ mObjective

optimizer::FunctionPtr dart::dynamics::HierarchicalIK::mObjective

protectedinherited

The Objective of this IK module.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mPartialNullspaceCache

Eigen::MatrixXd dart::dynamics::HierarchicalIK::mPartialNullspaceCache

mutableprotectedinherited

Cache for a partial null space computation.

◆ mProblem

std::shared_ptr<optimizer::Problem> dart::dynamics::HierarchicalIK::mProblem

protectedinherited

The Problem that this IK module is maintaining.

◆ mPtr

std::weak_ptr<HierarchicalIK> dart::dynamics::HierarchicalIK::mPtr

protectedinherited

Weak pointer to self.

◆ mSkeleton

WeakSkeletonPtr dart::dynamics::HierarchicalIK::mSkeleton

protectedinherited

Pointer to the Skeleton that this IK is tied to.

◆ mSolver

std::shared_ptr<optimizer::Solver> dart::dynamics::HierarchicalIK::mSolver

protectedinherited

The Solver that this IK module will use.

◆ mSVDCache

Eigen::JacobiSVD<math::Jacobian> dart::dynamics::HierarchicalIK::mSVDCache

mutableprotectedinherited

Cache for the null space SVD.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WholeBodyIK()

Member Function Documentation

◆ addObserver()

◆ clearCaches()

◆ clone()

◆ cloneWholeBodyIK()

◆ computeNullSpaces()

◆ copyOverSetup()

◆ create()

◆ findSolution()

◆ getAffiliation() [1/2]

◆ getAffiliation() [2/2]

◆ getIKHierarchy()

◆ getNullSpaceObjective() [1/2]

◆ getNullSpaceObjective() [2/2]

◆ getObjective() [1/2]

◆ getObjective() [2/2]

◆ getPositions()

◆ getProblem() [1/2]

◆ getProblem() [2/2]

◆ getSkeleton() [1/2]

◆ getSkeleton() [2/2]

◆ getSolver() [1/2]

◆ getSolver() [2/2]

◆ hasNullSpaceObjective()

◆ initialize()

◆ refreshIKHierarchy()

◆ removeObserver()

◆ resetProblem()

◆ sendDestructionNotification()

◆ setNullSpaceObjective()

◆ setObjective()

◆ setPositions()

◆ setSolver()

◆ solve() [1/2]

◆ solve() [2/2]

◆ solveAndApply() [1/2]

◆ solveAndApply() [2/2]

Member Data Documentation

◆ mHierarchy

◆ mJacCache

◆ mLastPositions

◆ mNullSpaceCache

◆ mNullSpaceObjective

◆ mObjective

◆ mObservers

◆ mPartialNullspaceCache

◆ mProblem

◆ mPtr

◆ mSkeleton

◆ mSolver

◆ mSVDCache