The TaskSpaceRegion is a nicely generalized method for computing the error of an IK Problem. More...

#include <InverseKinematics.hpp>

Inheritance diagram for dart::dynamics::InverseKinematics::TaskSpaceRegion:

Classes
struct	Properties

struct	UniqueProperties

Public Types
typedef std::pair< Eigen::Vector6d, Eigen::Vector6d >	Bounds

Public Member Functions
	TaskSpaceRegion (InverseKinematics *_ik, const Properties &_properties=Properties())
	Default Constructor. More...

virtual	~TaskSpaceRegion ()=default
	Virtual destructor. More...

std::unique_ptr< ErrorMethod >	clone (InverseKinematics *_newIK) const override
	Enable this ErrorMethod to be cloned to a new IK module. More...

Eigen::Isometry3d	computeDesiredTransform (const Eigen::Isometry3d &_currentTf, const Eigen::Vector6d &_error) override
	Override this function with your implementation of computing the desired given the current transform and error vector. More...

Eigen::Vector6d	computeError () override
	Override this function with your implementation of the error vector computation. More...

void	setComputeFromCenter (bool computeFromCenter)
	Set whether this TaskSpaceRegion should compute its error vector from the center of the region. More...

bool	isComputingFromCenter () const
	Get whether this TaskSpaceRegion is set to compute its error vector from the center of the region. More...

void	setReferenceFrame (SimpleFramePtr referenceFrame)
	Set the reference frame that the task space region is expressed. More...

ConstSimpleFramePtr	getReferenceFrame () const
	Get the reference frame that the task space region is expressed. More...

Properties	getTaskSpaceRegionProperties () const
	Get the Properties of this TaskSpaceRegion. More...

const Eigen::Vector6d &	evalError (const Eigen::VectorXd &_q)
	This function is used to handle caching the error vector. More...

const std::string &	getMethodName () const
	Get the name of this ErrorMethod. More...

void	setBounds (const Eigen::Vector6d &_lower=Eigen::Vector6d::Constant(-DefaultIKTolerance), const Eigen::Vector6d &_upper=Eigen::Vector6d::Constant(DefaultIKTolerance))
	Set all the error bounds. More...

void	setBounds (const std::pair< Eigen::Vector6d, Eigen::Vector6d > &_bounds)
	Set all the error bounds. More...

const std::pair< Eigen::Vector6d, Eigen::Vector6d > &	getBounds () const
	Get all the error bounds. More...

void	setAngularBounds (const Eigen::Vector3d &_lower=Eigen::Vector3d::Constant(-DefaultIKTolerance), const Eigen::Vector3d &_upper=Eigen::Vector3d::Constant(DefaultIKTolerance))
	Set the error bounds for orientation. More...

void	setAngularBounds (const std::pair< Eigen::Vector3d, Eigen::Vector3d > &_bounds)
	Set the error bounds for orientation. More...

std::pair< Eigen::Vector3d, Eigen::Vector3d >	getAngularBounds () const
	Get the error bounds for orientation. More...

void	setLinearBounds (const Eigen::Vector3d &_lower=Eigen::Vector3d::Constant(-DefaultIKTolerance), const Eigen::Vector3d &_upper=Eigen::Vector3d::Constant(DefaultIKTolerance))
	Set the error bounds for translation. More...

void	setLinearBounds (const std::pair< Eigen::Vector3d, Eigen::Vector3d > &_bounds)
	Set the error bounds for translation. More...

std::pair< Eigen::Vector3d, Eigen::Vector3d >	getLinearBounds () const
	Get the error bounds for translation. More...

void	setErrorLengthClamp (double _clampSize=DefaultIKErrorClamp)
	Set the clamp that will be applied to the length of the error vector each iteration. More...

double	getErrorLengthClamp () const
	Set the clamp that will be applied to the length of the error vector each iteration. More...

void	setErrorWeights (const Eigen::Vector6d &_weights)
	Set the weights that will be applied to each component of the error vector. More...

const Eigen::Vector6d &	getErrorWeights () const
	Get the weights that will be applied to each component of the error vector. More...

void	setAngularErrorWeights (const Eigen::Vector3d &_weights=Eigen::Vector3d::Constant(DefaultIKAngularWeight))
	Set the weights that will be applied to each angular component of the error vector. More...

Eigen::Vector3d	getAngularErrorWeights () const
	Get the weights that will be applied to each angular component of the error vector. More...

void	setLinearErrorWeights (const Eigen::Vector3d &_weights=Eigen::Vector3d::Constant(DefaultIKLinearWeight))
	Set the weights that will be applied to each linear component of the error vector. More...

Eigen::Vector3d	getLinearErrorWeights () const
	Get the weights that will be applied to each linear component of the error vector. More...

Properties	getErrorMethodProperties () const
	Get the Properties of this ErrorMethod. More...

void	clearCache ()
	Clear the cache to force the error to be recomputed. More...

Protected Member Functions
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
UniqueProperties	mTaskSpaceP
	Properties of this TaskSpaceRegion. More...

common::sub_ptr< InverseKinematics >	mIK
	Pointer to the IK module of this ErrorMethod. More...

std::string	mMethodName
	Name of this error method. More...

Eigen::VectorXd	mLastPositions
	The last joint positions passed into this ErrorMethod. More...

Eigen::Vector6d	mLastError
	The last error vector computed by this ErrorMethod. More...

Properties	mErrorP
	The properties of this ErrorMethod. More...

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

Detailed Description

The TaskSpaceRegion is a nicely generalized method for computing the error of an IK Problem.

Member Typedef Documentation

◆ Bounds

typedef std::pair<Eigen::Vector6d, Eigen::Vector6d> dart::dynamics::InverseKinematics::ErrorMethod::Bounds

inherited

Constructor & Destructor Documentation

◆ TaskSpaceRegion()

dart::dynamics::InverseKinematics::TaskSpaceRegion::TaskSpaceRegion	(	InverseKinematics *	_ik,
		const Properties &	_properties = `Properties()`
	)

explicit

Default Constructor.

◆ ~TaskSpaceRegion()

virtual dart::dynamics::InverseKinematics::TaskSpaceRegion::~TaskSpaceRegion ( )

virtualdefault

Virtual destructor.

Member Function Documentation

◆ addObserver()

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

protectedinherited

Add an Observer to the list of Observers.

◆ clearCache()

void dart::dynamics::InverseKinematics::ErrorMethod::clearCache ( )

inherited

Clear the cache to force the error to be recomputed.

It should generally not be necessary to call this function.

◆ clone()

std::unique_ptr< InverseKinematics::ErrorMethod > dart::dynamics::InverseKinematics::TaskSpaceRegion::clone ( InverseKinematics * _newIK ) const

overridevirtual

Enable this ErrorMethod to be cloned to a new IK module.

Implements dart::dynamics::InverseKinematics::ErrorMethod.

◆ computeDesiredTransform()

Eigen::Isometry3d dart::dynamics::InverseKinematics::TaskSpaceRegion::computeDesiredTransform	(	const Eigen::Isometry3d &	_currentTf,
		const Eigen::Vector6d &	_error
	)

overridevirtual

Override this function with your implementation of computing the desired given the current transform and error vector.

If you want the desired transform to always be equal to the Target's transform, you can simply call ErrorMethod::computeDesiredTransform to implement this function.

Implements dart::dynamics::InverseKinematics::ErrorMethod.

◆ computeError()

Eigen::Vector6d dart::dynamics::InverseKinematics::TaskSpaceRegion::computeError ( )

overridevirtual

Override this function with your implementation of the error vector computation.

The expectation is that the first three components of the vector will correspond to orientation error (in an angle-axis format) while the last three components correspond to translational error.

When implementing this function, you should assume that the Skeleton's current joint positions corresponds to the positions that you must use to compute the error. This function will only get called when an update is needed.

Implements dart::dynamics::InverseKinematics::ErrorMethod.

◆ evalError()

const Eigen::Vector6d & dart::dynamics::InverseKinematics::ErrorMethod::evalError ( const Eigen::VectorXd & _q )

inherited

This function is used to handle caching the error vector.

◆ getAngularBounds()

std::pair< Eigen::Vector3d, Eigen::Vector3d > dart::dynamics::InverseKinematics::ErrorMethod::getAngularBounds ( ) const

inherited

Get the error bounds for orientation.

◆ getAngularErrorWeights()

Eigen::Vector3d dart::dynamics::InverseKinematics::ErrorMethod::getAngularErrorWeights ( ) const

inherited

Get the weights that will be applied to each angular component of the error vector.

◆ getBounds()

const std::pair< Eigen::Vector6d, Eigen::Vector6d > & dart::dynamics::InverseKinematics::ErrorMethod::getBounds ( ) const

inherited

Get all the error bounds.

◆ getErrorLengthClamp()

double dart::dynamics::InverseKinematics::ErrorMethod::getErrorLengthClamp ( ) const

inherited

Set the clamp that will be applied to the length of the error vector each iteration.

◆ getErrorMethodProperties()

InverseKinematics::ErrorMethod::Properties dart::dynamics::InverseKinematics::ErrorMethod::getErrorMethodProperties ( ) const

inherited

Get the Properties of this ErrorMethod.

◆ getErrorWeights()

const Eigen::Vector6d & dart::dynamics::InverseKinematics::ErrorMethod::getErrorWeights ( ) const

inherited

Get the weights that will be applied to each component of the error vector.

◆ getLinearBounds()

std::pair< Eigen::Vector3d, Eigen::Vector3d > dart::dynamics::InverseKinematics::ErrorMethod::getLinearBounds ( ) const

inherited

Get the error bounds for translation.

◆ getLinearErrorWeights()

Eigen::Vector3d dart::dynamics::InverseKinematics::ErrorMethod::getLinearErrorWeights ( ) const

inherited

Get the weights that will be applied to each linear component of the error vector.

◆ getMethodName()

const std::string & dart::dynamics::InverseKinematics::ErrorMethod::getMethodName ( ) const

inherited

Get the name of this ErrorMethod.

◆ getReferenceFrame()

ConstSimpleFramePtr dart::dynamics::InverseKinematics::TaskSpaceRegion::getReferenceFrame ( ) const

Get the reference frame that the task space region is expressed.

◆ getTaskSpaceRegionProperties()

InverseKinematics::TaskSpaceRegion::Properties dart::dynamics::InverseKinematics::TaskSpaceRegion::getTaskSpaceRegionProperties ( ) const

Get the Properties of this TaskSpaceRegion.

◆ isComputingFromCenter()

bool dart::dynamics::InverseKinematics::TaskSpaceRegion::isComputingFromCenter ( ) const

Get whether this TaskSpaceRegion is set to compute its error vector from the center of the region.

◆ removeObserver()

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

protectedinherited

Remove an Observer from the list of Observers.

◆ 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.

◆ setAngularBounds() [1/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setAngularBounds	(	const Eigen::Vector3d &	_lower = `Eigen::Vector3d::Constant(-DefaultIKTolerance)`,
		const Eigen::Vector3d &	_upper = `Eigen::Vector3d::Constant(DefaultIKTolerance)`
	)

inherited

Set the error bounds for orientation.

◆ setAngularBounds() [2/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setAngularBounds ( const std::pair< Eigen::Vector3d, Eigen::Vector3d > & _bounds )

inherited

Set the error bounds for orientation.

◆ setAngularErrorWeights()

void dart::dynamics::InverseKinematics::ErrorMethod::setAngularErrorWeights ( const Eigen::Vector3d & _weights = Eigen::Vector3d::Constant(DefaultIKAngularWeight) )

inherited

Set the weights that will be applied to each angular component of the error vector.

◆ setBounds() [1/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setBounds	(	const Eigen::Vector6d &	_lower = `Eigen::Vector6d::Constant(-DefaultIKTolerance)`,
		const Eigen::Vector6d &	_upper = `Eigen::Vector6d::Constant(DefaultIKTolerance)`
	)

inherited

Set all the error bounds.

◆ setBounds() [2/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setBounds ( const std::pair< Eigen::Vector6d, Eigen::Vector6d > & _bounds )

inherited

Set all the error bounds.

◆ setComputeFromCenter()

void dart::dynamics::InverseKinematics::TaskSpaceRegion::setComputeFromCenter ( bool computeFromCenter )

Set whether this TaskSpaceRegion should compute its error vector from the center of the region.

◆ setErrorLengthClamp()

void dart::dynamics::InverseKinematics::ErrorMethod::setErrorLengthClamp ( double _clampSize = DefaultIKErrorClamp )

inherited

Set the clamp that will be applied to the length of the error vector each iteration.

◆ setErrorWeights()

void dart::dynamics::InverseKinematics::ErrorMethod::setErrorWeights ( const Eigen::Vector6d & _weights )

inherited

Set the weights that will be applied to each component of the error vector.

◆ setLinearBounds() [1/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setLinearBounds	(	const Eigen::Vector3d &	_lower = `Eigen::Vector3d::Constant(-DefaultIKTolerance)`,
		const Eigen::Vector3d &	_upper = `Eigen::Vector3d::Constant(DefaultIKTolerance)`
	)

inherited

Set the error bounds for translation.

◆ setLinearBounds() [2/2]

void dart::dynamics::InverseKinematics::ErrorMethod::setLinearBounds ( const std::pair< Eigen::Vector3d, Eigen::Vector3d > & _bounds )

inherited

Set the error bounds for translation.

◆ setLinearErrorWeights()

void dart::dynamics::InverseKinematics::ErrorMethod::setLinearErrorWeights ( const Eigen::Vector3d & _weights = Eigen::Vector3d::Constant(DefaultIKLinearWeight) )

inherited

Set the weights that will be applied to each linear component of the error vector.

◆ setReferenceFrame()

void dart::dynamics::InverseKinematics::TaskSpaceRegion::setReferenceFrame ( SimpleFramePtr referenceFrame )

Set the reference frame that the task space region is expressed.

Pass nullptr to use the parent frame of the target frame instead.

Member Data Documentation

◆ mErrorP

Properties dart::dynamics::InverseKinematics::ErrorMethod::mErrorP

protectedinherited

The properties of this ErrorMethod.

◆ mIK

common::sub_ptr<InverseKinematics> dart::dynamics::InverseKinematics::ErrorMethod::mIK

protectedinherited

Pointer to the IK module of this ErrorMethod.

◆ mLastError

Eigen::Vector6d dart::dynamics::InverseKinematics::ErrorMethod::mLastError

protectedinherited

The last error vector computed by this ErrorMethod.

◆ mLastPositions

Eigen::VectorXd dart::dynamics::InverseKinematics::ErrorMethod::mLastPositions

protectedinherited

The last joint positions passed into this ErrorMethod.

◆ mMethodName

std::string dart::dynamics::InverseKinematics::ErrorMethod::mMethodName

protectedinherited

Name of this error method.

◆ mObservers

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

mutableprotectedinherited

List of current Observers.

◆ mTaskSpaceP

UniqueProperties dart::dynamics::InverseKinematics::TaskSpaceRegion::mTaskSpaceP

protected

Properties of this TaskSpaceRegion.

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Bounds

Constructor & Destructor Documentation

◆ TaskSpaceRegion()

◆ ~TaskSpaceRegion()

Member Function Documentation

◆ addObserver()

◆ clearCache()

◆ clone()

◆ computeDesiredTransform()

◆ computeError()

◆ evalError()

◆ getAngularBounds()

◆ getAngularErrorWeights()

◆ getBounds()

◆ getErrorLengthClamp()

◆ getErrorMethodProperties()

◆ getErrorWeights()

◆ getLinearBounds()

◆ getLinearErrorWeights()

◆ getMethodName()

◆ getReferenceFrame()

◆ getTaskSpaceRegionProperties()

◆ isComputingFromCenter()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setAngularBounds() [1/2]

◆ setAngularBounds() [2/2]

◆ setAngularErrorWeights()

◆ setBounds() [1/2]

◆ setBounds() [2/2]

◆ setComputeFromCenter()

◆ setErrorLengthClamp()

◆ setErrorWeights()

◆ setLinearBounds() [1/2]

◆ setLinearBounds() [2/2]

◆ setLinearErrorWeights()

◆ setReferenceFrame()

Member Data Documentation

◆ mErrorP

◆ mIK

◆ mLastError

◆ mLastPositions

◆ mMethodName

◆ mObservers

◆ mTaskSpaceP