A base class for IkFast-based analytical inverse kinematics classes. More...

#include <IkFast.hpp>

Inheritance diagram for dart::dynamics::IkFast:

Public Types
enum	IkType { TRANSFORM_6D , ROTATION_3D , TRANSLATION_3D , DIRECTION_3D , RAY_4D , LOOKAT_3D , TRANSLATION_DIRECTION_5D , TRANSLATION_XY_2D , TRANSLATION_XY_ORIENTATION_3D , TRANSLATION_LOCAL_GLOBAL_6D , TRANSLATION_X_AXIS_ANGLE_4D , TRANSLATION_Y_AXIS_ANGLE_4D , TRANSLATION_Z_AXIS_ANGLE_4D , TRANSLATION_X_AXIS_ANGLE_Z_NORM_4D , TRANSLATION_Y_AXIS_ANGLE_X_NORM_4D , TRANSLATION_Z_AXIS_ANGLE_Y_NORM_4D , UNKNOWN }
	Inverse kinematics types supported by IkFast. More...

enum	Validity_t { VALID = 0 , OUT_OF_REACH = 1 << 0 , LIMIT_VIOLATED = 1 << 1 }
	Bitwise enumerations that are used to describe some properties of each solution produced by the analytical IK. More...

enum	ExtraDofUtilization { UNUSED = 0 , PRE_ANALYTICAL , POST_ANALYTICAL , PRE_AND_POST_ANALYTICAL }
	If there are extra DOFs in the IK module which your Analytical solver implementation does not make use of, those DOFs can be used to supplement the analytical solver using Jacobian transpose iteration. More...

typedef std::function< bool(const Eigen::VectorXd &_better, const Eigen::VectorXd &_worse, const InverseKinematics *_ik)>	QualityComparison

Public Member Functions
	IkFast (InverseKinematics *ik, const std::vector< std::size_t > &dofMap, const std::vector< std::size_t > &freeDofMap, const std::string &methodName="IKFast", const Analytical::Properties &properties=Analytical::Properties())
	Constructor. More...

const std::vector< InverseKinematics::Analytical::Solution > &	computeSolutions (const Eigen::Isometry3d &desiredBodyTf) override
	Use this function to fill the entries of the mSolutions variable. More...

Eigen::Isometry3d	computeFk (const Eigen::VectorXd &parameters)
	Computes forward kinematics given joint positions where the dimension is the same as getNumJoints2(). More...

const std::vector< std::size_t > &	getDofs () const override
	Returns the indices of the DegreeOfFreedoms that are part of the joints that IkFast solves for. More...

const std::vector< std::size_t > &	getFreeDofs () const
	Returns the indices of the DegreeOfFreedoms that are part of the joints that IkFast solves but the values should be set by the user in prior. More...

virtual bool	isConfigured () const
	Returns true if this IkFast is ready to solve. More...

std::size_t	getNumFreeParameters2 () const
	Returns the number of free parameters users has to set apriori. More...

std::size_t	getNumJoints2 () const
	Returns the total number of indices of the chane. More...

IkType	getIkType2 () const
	Returns the IK type. More...

const std::string	getKinematicsHash2 () const
	Returns a hash of all the chain values used for double checking that the correct IK is used. More...

std::string	getIkFastVersion2 () const
	Returns the IkFast version used to generate this file. More...

const std::vector< Solution > &	getSolutions ()
	Get the solutions for this IK module, along with a tag indicating whether each solution is valid. More...

const std::vector< Solution > &	getSolutions (const Eigen::Isometry3d &_desiredTf)
	Get the solutions for this IK module, along with a tag indicating whether each solution is valid. More...

void	computeGradient (const Eigen::Vector6d &_error, Eigen::VectorXd &_grad) override
	You should not need to override this function. More...

void	setPositions (const Eigen::VectorXd &_config)
	Set the configuration of the DOFs. More...

Eigen::VectorXd	getPositions () const
	Get the configuration of the DOFs. More...

void	setExtraDofUtilization (ExtraDofUtilization _utilization)
	Set how you want extra DOFs to be utilized by the IK module. More...

ExtraDofUtilization	getExtraDofUtilization () const
	Get how extra DOFs are being utilized by the IK module. More...

void	setExtraErrorLengthClamp (double _clamp)
	Set how much to clamp the error vector that gets applied to extra DOFs. More...

double	getExtraErrorLengthClamp () const
	Get how much we will clamp the error vector that gets applied to extra DOFs. More...

void	setQualityComparisonFunction (const QualityComparison &_func)
	Set the function that will be used to compare the qualities of two solutions. More...

void	resetQualityComparisonFunction ()
	Reset the quality comparison function to the default method. More...

Properties	getAnalyticalProperties () const
	Get the Properties for this Analytical class. More...

void	constructDofMap ()
	Construct a mapping from the DOFs of getDofs() to their indices within the Node's list of dependent DOFs. More...

virtual std::unique_ptr< GradientMethod >	clone (InverseKinematics *_newIK) const =0
	Enable this GradientMethod to be cloned to a new IK module. More...

void	evalGradient (const Eigen::VectorXd &_q, Eigen::Map< Eigen::VectorXd > _grad)
	This function is used to handle caching the gradient vector and interfacing with the solver. More...

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

void	clampGradient (Eigen::VectorXd &_grad) const
	Clamp the gradient based on the clamp settings of this GradientMethod. More...

void	setComponentWiseClamp (double _clamp=DefaultIKGradientComponentClamp)
	Set the component-wise clamp for this GradientMethod. More...

double	getComponentWiseClamp () const
	Get the component-wise clamp for this GradientMethod. More...

void	applyWeights (Eigen::VectorXd &_grad) const
	Apply weights to the gradient based on the weight settings of this GradientMethod. More...

void	setComponentWeights (const Eigen::VectorXd &_weights)
	Set the weights that will be applied to each component of the gradient. More...

const Eigen::VectorXd &	getComponentWeights () const
	Get the weights of this GradientMethod. More...

void	convertJacobianMethodOutputToGradient (Eigen::VectorXd &grad, const std::vector< std::size_t > &dofs)
	Convert the gradient that gets generated by Jacobian methods into a gradient that can be used by a GradientDescentSolver. More...

Properties	getGradientMethodProperties () const
	Get the Properties of this GradientMethod. More...

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

InverseKinematics *	getIK ()
	Returns the IK module that this GradientMethod belongs to. More...

const InverseKinematics *	getIK () const
	Returns the IK module that this GradientMethod belongs to. More...

Protected Member Functions
virtual int	getNumFreeParameters () const =0
	Returns the number of free parameters users has to set apriori. More...

virtual int *	getFreeParameters () const =0
	Returns the indicies of the free parameters indexed by the chain joints. More...

virtual int	getNumJoints () const =0
	Returns the total number of indices of the chane. More...

virtual int	getIkRealSize () const =0
	Returns the size in bytes of the configured number type. More...

virtual int	getIkType () const =0
	Returns the IK type. More...

virtual bool	computeIk (const IkReal targetTranspose, const IkReal targetRotation, const IkReal *pfree, ikfast::IkSolutionListBase< IkReal > &solutions)=0
	Computes the inverse kinematics solutions using the generated IKFast code. More...

virtual void	computeFk (const IkReal parameters, IkReal targetTranspose, IkReal *targetRotation)=0
	Computes the forward kinematics solutions using the generated IKFast code. More...

virtual const char *	getKinematicsHash ()=0
	Returns a hash of all the chain values used for double checking that the correct IK is used. More...

virtual const char *	getIkFastVersion ()=0
	Returns the IkFast version used to generate this file. More...

virtual void	configure () const
	Configure IkFast. More...

virtual void	addExtraDofGradient (Eigen::VectorXd &grad, const Eigen::Vector6d &error, ExtraDofUtilization utilization)
	This function will compute a gradient which utilizes the extra DOFs that go unused by the Analytical solution and then it will add the components of that gradient to the output parameter: grad. More...

void	checkSolutionJointLimits ()
	Go through the mSolutions vector and tag entries with LIMIT_VIOLATED if any components of their configuration are outside of their position limits. 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
std::vector< double >	mFreeParams

bool	mConfigured
	True if this IkFast is ready to solve. More...

std::vector< std::size_t >	mDofs
	Indices of the DegreeOfFreedoms associated to the variable parameters of this IkFast. More...

std::vector< std::size_t >	mFreeDofs
	Indices of the DegreeOfFreedoms associated to the free parameters of this IkFast. More...

std::vector< Solution >	mSolutions
	Vector of solutions. More...

UniqueProperties	mAnalyticalP
	Properties for this Analytical IK solver. More...

common::sub_ptr< InverseKinematics >	mIK
	The IK module that this GradientMethod belongs to. More...

std::string	mMethodName
	The name of this method. More...

Eigen::VectorXd	mLastPositions
	The last positions that was passed to this GradientMethod. More...

Eigen::VectorXd	mLastGradient
	The last gradient that was computed by this GradientMethod. More...

Properties	mGradientP
	Properties for this GradientMethod. More...

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

Private Attributes
std::array< IkReal, 9 >	mTargetRotation
	Cache data for the target rotation used by IKFast. More...

std::array< IkReal, 3 >	mTargetTranspose
	Cache data for the target translation used by IKFast. More...

std::vector< int >	mDofMap
	This maps the DOFs provided by getDofs() to their index in the Node's list of dependent DOFs. More...

std::vector< std::size_t >	mExtraDofs
	List of extra DOFs in the module which are not covered by the Analytical IK implementation. More...

std::vector< Solution >	mValidSolutionsCache
	A cache for the valid solutions. More...

std::vector< Solution >	mOutOfReachCache
	A cache for the out of reach solutions. More...

std::vector< Solution >	mLimitViolationCache
	A cache for solutions that violate joint limits. More...

Eigen::VectorXd	mConfigCache
	A cache for storing the current configuration. More...

Eigen::VectorXd	mRestoreConfigCache
	A cache for storing the current configuration so that it can be restored later. More...

Eigen::VectorXd	mExtraDofGradCache
	A cache for storing the gradient for the extra DOFs. More...

Eigen::VectorXd	mInitialPositionsCache
	Cache used by convertJacobianMethodOutputToGradient to avoid reallocating this vector on each iteration. More...

Detailed Description

A base class for IkFast-based analytical inverse kinematics classes.

The detail of IkFast can be found here: http://openrave.org/docs/0.8.2/openravepy/ikfast/

Member Typedef Documentation

◆ QualityComparison

typedef std::function<bool( const Eigen::VectorXd& _better, const Eigen::VectorXd& _worse, const InverseKinematics* _ik)> dart::dynamics::InverseKinematics::Analytical::QualityComparison

inherited

Member Enumeration Documentation

◆ ExtraDofUtilization

enum dart::dynamics::InverseKinematics::Analytical::ExtraDofUtilization

inherited

If there are extra DOFs in the IK module which your Analytical solver implementation does not make use of, those DOFs can be used to supplement the analytical solver using Jacobian transpose iteration.

This enumeration is used to indicate whether you want those DOFs to be used before applying the analytical solution, after applying the analytical solution, or not be used at all.

Jacobian transpose is used for the extra DOFs because it is inexpensive and robust to degenerate Jacobians which are common in low dimensional joint spaces. The primary advantage of pseudoinverse methods over Jacobian transpose methods is their precision, but analytical methods are even more precise than pseudoinverse methods, so that precision is not needed in this case.

If you want the extra DOFs to use a different method than Jacobian transpose, you can create two seperate IK modules (one which is analytical and one with the iterative method of your choice) and combine them in a HierarchicalIK.

Enumerator
UNUSED
PRE_ANALYTICAL
POST_ANALYTICAL
PRE_AND_POST_ANALYTICAL

◆ IkType

enum dart::dynamics::IkFast::IkType

Inverse kinematics types supported by IkFast.

Enumerator
TRANSFORM_6D	End effector reaches desired 6D transformation.
ROTATION_3D	End effector reaches desired 3D rotation.
TRANSLATION_3D	End effector origin reaches desired 3D translation.
DIRECTION_3D	Direction on end effector coordinate system reaches desired direction.
RAY_4D	Ray on end effector coordinate system reaches desired global ray.
LOOKAT_3D	Direction on end effector coordinate system points to desired 3D position.
TRANSLATION_DIRECTION_5D	End effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
TRANSLATION_XY_2D	End effector origin reaches desired XY translation position, Z is ignored. The coordinate system with relative to the base link.
TRANSLATION_XY_ORIENTATION_3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
TRANSLATION_LOCAL_GLOBAL_6D	Local point on end effector origin reaches desired 3D global point. Because both local point and global point can be specified, there are 6 values.
TRANSLATION_X_AXIS_ANGLE_4D	End effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis (defined in the manipulator base link’s coordinate system)
TRANSLATION_Y_AXIS_ANGLE_4D	End effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis (defined in the manipulator base link’s coordinate system)
TRANSLATION_Z_AXIS_ANGLE_4D	End effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis (defined in the manipulator base link’s coordinate system)
TRANSLATION_X_AXIS_ANGLE_Z_NORM_4D	End effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
TRANSLATION_Y_AXIS_ANGLE_X_NORM_4D	End effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
TRANSLATION_Z_AXIS_ANGLE_Y_NORM_4D	End effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
UNKNOWN

◆ Validity_t

enum dart::dynamics::InverseKinematics::Analytical::Validity_t

inherited

Bitwise enumerations that are used to describe some properties of each solution produced by the analytical IK.

Enumerator
VALID	The solution is completely valid and reaches the target.
OUT_OF_REACH	The solution does not reach the target.
LIMIT_VIOLATED	The solution has one or more joint positions that violate the joint limits.

Constructor & Destructor Documentation

◆ IkFast()

dart::dynamics::IkFast::IkFast	(	InverseKinematics *	ik,
		const std::vector< std::size_t > &	dofMap,
		const std::vector< std::size_t > &	freeDofMap,
		const std::string &	methodName = `"IKFast"`,
		const Analytical::Properties &	properties = `Analytical::Properties()`
	)

Constructor.

Parameters

[in]	ik	The parent InverseKinematics solver that is associated with this gradient method.
[in]	dofMap	The indices to the degrees-of-freedom that will be solved by IkFast. The number of DOFs can be varied depending on the IkFast solvers.
[in]	freeDofMap	The indices to the DOFs that are not solved by the IkFast solver. The values of these DOFs should be set properly.
[in]	methodName	The name of this analytical inverse kinematics method.
[in]	properties	Properties of InverseKinematics::Analytical.

Member Function Documentation

◆ addExtraDofGradient()

void dart::dynamics::InverseKinematics::Analytical::addExtraDofGradient	(	Eigen::VectorXd &	grad,
		const Eigen::Vector6d &	error,
		ExtraDofUtilization	utilization
	)

protectedvirtualinherited

This function will compute a gradient which utilizes the extra DOFs that go unused by the Analytical solution and then it will add the components of that gradient to the output parameter: grad.

You can override this function to customize how the extra DOFs are used. The default behavior is to use a simple Jacobian Transpose method.

The utilization flag will be PRE_ANALYTICAL if the function is being called before the Analytical solution is computed; it will be POST_ANALYTICAL if the function is being called after the Analytical solution is computed.

◆ addObserver()

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

protectedinherited

Add an Observer to the list of Observers.

◆ applyWeights()

void dart::dynamics::InverseKinematics::GradientMethod::applyWeights ( Eigen::VectorXd & _grad ) const

inherited

Apply weights to the gradient based on the weight settings of this GradientMethod.

◆ checkSolutionJointLimits()

void dart::dynamics::InverseKinematics::Analytical::checkSolutionJointLimits ( )

protectedinherited

Go through the mSolutions vector and tag entries with LIMIT_VIOLATED if any components of their configuration are outside of their position limits.

This will NOT clear the LIMIT_VIOLATED flag from entries of mSolutions which are already tagged with it, even if they do not violate any limits.

◆ clampGradient()

void dart::dynamics::InverseKinematics::GradientMethod::clampGradient ( Eigen::VectorXd & _grad ) const

inherited

Clamp the gradient based on the clamp settings of this GradientMethod.

◆ clearCache()

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

inherited

Clear the cache to force the gradient to be recomputed.

It should generally not be necessary to call this function.

◆ clone()

virtual std::unique_ptr<GradientMethod> dart::dynamics::InverseKinematics::GradientMethod::clone ( InverseKinematics * _newIK ) const

pure virtualinherited

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

Implemented in dart::dynamics::SharedLibraryIkFast, dart::dynamics::InverseKinematics::JacobianTranspose, and dart::dynamics::InverseKinematics::JacobianDLS.

◆ computeFk() [1/2]

Eigen::Isometry3d dart::dynamics::IkFast::computeFk ( const Eigen::VectorXd & parameters )

Computes forward kinematics given joint positions where the dimension is the same as getNumJoints2().

◆ computeFk() [2/2]

virtual void dart::dynamics::IkFast::computeFk	(	const IkReal *	parameters,
		IkReal *	targetTranspose,
		IkReal *	targetRotation
	)

protectedpure virtual

Computes the forward kinematics solutions using the generated IKFast code.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ computeGradient()

void dart::dynamics::InverseKinematics::Analytical::computeGradient	(	const Eigen::Vector6d &	_error,
		Eigen::VectorXd &	_grad
	)

overridevirtualinherited

You should not need to override this function.

Instead, you should override computeSolutions.

Implements dart::dynamics::InverseKinematics::GradientMethod.

◆ computeIk()

virtual bool dart::dynamics::IkFast::computeIk	(	const IkReal *	targetTranspose,
		const IkReal *	targetRotation,
		const IkReal *	pfree,
		ikfast::IkSolutionListBase< IkReal > &	solutions
	)

protectedpure virtual

Computes the inverse kinematics solutions using the generated IKFast code.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ computeSolutions()

auto dart::dynamics::IkFast::computeSolutions ( const Eigen::Isometry3d & _desiredBodyTf )

overridevirtual

Use this function to fill the entries of the mSolutions variable.

Be sure to clear the mSolutions vector at the start, and to also return the mSolutions vector at the end. Note that you are not expected to evaluate any of the solutions for their quality. However, you should set the Solution::mValidity flag to OUT_OF_REACH for each solution that does not actually reach the desired transform, and you should call checkSolutionJointLimits() and the end of the function, which will set the LIMIT_VIOLATED flags of any configurations that are outside of the position limits.

Implements dart::dynamics::InverseKinematics::Analytical.

◆ configure()

void dart::dynamics::IkFast::configure ( ) const

protectedvirtual

Configure IkFast.

If it's successfully configured, isConfigured() returns true.

Reimplemented in dart::dynamics::SharedLibraryIkFast.

◆ constructDofMap()

void dart::dynamics::InverseKinematics::Analytical::constructDofMap ( )

inherited

Construct a mapping from the DOFs of getDofs() to their indices within the Node's list of dependent DOFs.

This will be called immediately after the Analytical is constructed; this one call is sufficient as long as the DOFs of Analytical::getDofs() is not changed. However, if your Analytical is able to change the DOFs that it operates on, then you will need to call this function each time the DOFs have changed.

◆ convertJacobianMethodOutputToGradient()

void dart::dynamics::InverseKinematics::GradientMethod::convertJacobianMethodOutputToGradient	(	Eigen::VectorXd &	grad,
		const std::vector< std::size_t > &	dofs
	)

inherited

Convert the gradient that gets generated by Jacobian methods into a gradient that can be used by a GradientDescentSolver.

Not all Joint types can be integrated using standard addition (e.g. FreeJoint and BallJoint), therefore Jacobian-based differential methods will tend to generate gradients that cannot be correctly used by a simple addition-based GradientDescentSolver. Running your gradient through this function before returning it will make the gradient suitable for a standard solver.

◆ evalGradient()

void dart::dynamics::InverseKinematics::GradientMethod::evalGradient	(	const Eigen::VectorXd &	_q,
		Eigen::Map< Eigen::VectorXd >	_grad
	)

inherited

This function is used to handle caching the gradient vector and interfacing with the solver.

◆ getAnalyticalProperties()

InverseKinematics::Analytical::Properties dart::dynamics::InverseKinematics::Analytical::getAnalyticalProperties ( ) const

inherited

Get the Properties for this Analytical class.

◆ getComponentWeights()

const Eigen::VectorXd & dart::dynamics::InverseKinematics::GradientMethod::getComponentWeights ( ) const

inherited

Get the weights of this GradientMethod.

◆ getComponentWiseClamp()

double dart::dynamics::InverseKinematics::GradientMethod::getComponentWiseClamp ( ) const

inherited

Get the component-wise clamp for this GradientMethod.

◆ getDofs()

auto dart::dynamics::IkFast::getDofs ( ) const

overridevirtual

Returns the indices of the DegreeOfFreedoms that are part of the joints that IkFast solves for.

Implements dart::dynamics::InverseKinematics::Analytical.

◆ getExtraDofUtilization()

IK::Analytical::ExtraDofUtilization dart::dynamics::IK::Analytical::getExtraDofUtilization ( ) const

inherited

Get how extra DOFs are being utilized by the IK module.

◆ getExtraErrorLengthClamp()

double dart::dynamics::IK::Analytical::getExtraErrorLengthClamp ( ) const

inherited

Get how much we will clamp the error vector that gets applied to extra DOFs.

◆ getFreeDofs()

const std::vector< std::size_t > & dart::dynamics::IkFast::getFreeDofs ( ) const

Returns the indices of the DegreeOfFreedoms that are part of the joints that IkFast solves but the values should be set by the user in prior.

◆ getFreeParameters()

virtual int* dart::dynamics::IkFast::getFreeParameters ( ) const

protectedpure virtual

Returns the indicies of the free parameters indexed by the chain joints.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getGradientMethodProperties()

InverseKinematics::GradientMethod::Properties dart::dynamics::InverseKinematics::GradientMethod::getGradientMethodProperties ( ) const

inherited

Get the Properties of this GradientMethod.

◆ getIK() [1/2]

InverseKinematics * dart::dynamics::InverseKinematics::GradientMethod::getIK ( )

inherited

Returns the IK module that this GradientMethod belongs to.

◆ getIK() [2/2]

const InverseKinematics * dart::dynamics::InverseKinematics::GradientMethod::getIK ( ) const

inherited

Returns the IK module that this GradientMethod belongs to.

◆ getIkFastVersion()

virtual const char* dart::dynamics::IkFast::getIkFastVersion ( )

protectedpure virtual

Returns the IkFast version used to generate this file.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getIkFastVersion2()

std::string dart::dynamics::IkFast::getIkFastVersion2 ( ) const

Returns the IkFast version used to generate this file.

◆ getIkRealSize()

virtual int dart::dynamics::IkFast::getIkRealSize ( ) const

protectedpure virtual

Returns the size in bytes of the configured number type.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getIkType()

virtual int dart::dynamics::IkFast::getIkType ( ) const

protectedpure virtual

Returns the IK type.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getIkType2()

IkFast::IkType dart::dynamics::IkFast::getIkType2 ( ) const

Returns the IK type.

◆ getKinematicsHash()

virtual const char* dart::dynamics::IkFast::getKinematicsHash ( )

protectedpure virtual

Returns a hash of all the chain values used for double checking that the correct IK is used.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getKinematicsHash2()

const std::string dart::dynamics::IkFast::getKinematicsHash2 ( ) const

Returns a hash of all the chain values used for double checking that the correct IK is used.

◆ getMethodName()

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

inherited

Get the name of this GradientMethod.

◆ getNumFreeParameters()

virtual int dart::dynamics::IkFast::getNumFreeParameters ( ) const

protectedpure virtual

Returns the number of free parameters users has to set apriori.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getNumFreeParameters2()

std::size_t dart::dynamics::IkFast::getNumFreeParameters2 ( ) const

Returns the number of free parameters users has to set apriori.

◆ getNumJoints()

virtual int dart::dynamics::IkFast::getNumJoints ( ) const

protectedpure virtual

Returns the total number of indices of the chane.

Implemented in dart::dynamics::SharedLibraryIkFast.

◆ getNumJoints2()

std::size_t dart::dynamics::IkFast::getNumJoints2 ( ) const

Returns the total number of indices of the chane.

◆ getPositions()

Eigen::VectorXd dart::dynamics::InverseKinematics::Analytical::getPositions ( ) const

inherited

Get the configuration of the DOFs.

The components of this vector will correspond to the DOFs provided by getDofs().

◆ getSolutions() [1/2]

const std::vector< IK::Analytical::Solution > & dart::dynamics::IK::Analytical::getSolutions ( )

inherited

Get the solutions for this IK module, along with a tag indicating whether each solution is valid.

This function will assume that you want to use the desired transform given by the IK module's current ErrorMethod.

◆ getSolutions() [2/2]

const std::vector< IK::Analytical::Solution > & dart::dynamics::IK::Analytical::getSolutions ( const Eigen::Isometry3d & _desiredTf )

inherited

Get the solutions for this IK module, along with a tag indicating whether each solution is valid.

This function will compute the configurations using the given desired transform instead of using the IK module's current ErrorMethod.

◆ isConfigured()

bool dart::dynamics::IkFast::isConfigured ( ) const

virtual

Returns true if this IkFast is ready to solve.

◆ removeObserver()

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

protectedinherited

Remove an Observer from the list of Observers.

◆ resetQualityComparisonFunction()

void dart::dynamics::InverseKinematics::Analytical::resetQualityComparisonFunction ( )

inherited

Reset the quality comparison function to the default method.

◆ 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.

◆ setComponentWeights()

void dart::dynamics::InverseKinematics::GradientMethod::setComponentWeights ( const Eigen::VectorXd & _weights )

inherited

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

If the number of components in _weights is smaller than the number of components in the gradient, then a weight of 1.0 will be applied to all components that are out of the range of _weights. Passing in an empty vector for _weights will effectively make all the gradient components unweighted.

◆ setComponentWiseClamp()

void dart::dynamics::InverseKinematics::GradientMethod::setComponentWiseClamp ( double _clamp = DefaultIKGradientComponentClamp )

inherited

Set the component-wise clamp for this GradientMethod.

Each component of the gradient will be individually clamped to this size.

◆ setExtraDofUtilization()

void dart::dynamics::InverseKinematics::Analytical::setExtraDofUtilization ( ExtraDofUtilization _utilization )

inherited

Set how you want extra DOFs to be utilized by the IK module.

◆ setExtraErrorLengthClamp()

void dart::dynamics::IK::Analytical::setExtraErrorLengthClamp ( double _clamp )

inherited

Set how much to clamp the error vector that gets applied to extra DOFs.

◆ setPositions()

void dart::dynamics::InverseKinematics::Analytical::setPositions ( const Eigen::VectorXd & _config )

inherited

Set the configuration of the DOFs.

The components of _config must correspond to the DOFs provided by getDofs().

◆ setQualityComparisonFunction()

void dart::dynamics::InverseKinematics::Analytical::setQualityComparisonFunction ( const QualityComparison & _func )

inherited

Set the function that will be used to compare the qualities of two solutions.

This function should return true if the first argument is a better solution than the second argument.

By default, it will prefer the solution which has the smallest size for its largest change in joint angle. In other words, for each configuration that it is given, it will compare the largest change in joint angle for each configuration and pick the one that is smallest.

Note that outside of this comparison function, the Solutions will be split between which are valid, which are out-of-reach, and which are in violation of joint limits. Valid solutions will always be ranked above invalid solutions, and joint limit violations will always be ranked last.

Member Data Documentation

◆ mAnalyticalP

UniqueProperties dart::dynamics::InverseKinematics::Analytical::mAnalyticalP

protectedinherited

Properties for this Analytical IK solver.

◆ mConfigCache

Eigen::VectorXd dart::dynamics::InverseKinematics::Analytical::mConfigCache

privateinherited

A cache for storing the current configuration.

◆ mConfigured

bool dart::dynamics::IkFast::mConfigured

mutableprotected

True if this IkFast is ready to solve.

◆ mDofMap

std::vector<int> dart::dynamics::InverseKinematics::Analytical::mDofMap

privateinherited

This maps the DOFs provided by getDofs() to their index in the Node's list of dependent DOFs.

This map is constructed by constructDofMap().

◆ mDofs

std::vector<std::size_t> dart::dynamics::IkFast::mDofs

mutableprotected

Indices of the DegreeOfFreedoms associated to the variable parameters of this IkFast.

◆ mExtraDofGradCache

Eigen::VectorXd dart::dynamics::InverseKinematics::Analytical::mExtraDofGradCache

privateinherited

A cache for storing the gradient for the extra DOFs.

◆ mExtraDofs

std::vector<std::size_t> dart::dynamics::InverseKinematics::Analytical::mExtraDofs

privateinherited

List of extra DOFs in the module which are not covered by the Analytical IK implementation.

The index of each DOF is its dependency index in the JacobianNode (i.e. the column it applies to in the Node's Jacobian).

◆ mFreeDofs

std::vector<std::size_t> dart::dynamics::IkFast::mFreeDofs

mutableprotected

Indices of the DegreeOfFreedoms associated to the free parameters of this IkFast.

◆ mFreeParams

std::vector<double> dart::dynamics::IkFast::mFreeParams

mutableprotected

◆ mGradientP

Properties dart::dynamics::InverseKinematics::GradientMethod::mGradientP

protectedinherited

Properties for this GradientMethod.

◆ mIK

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

protectedinherited

The IK module that this GradientMethod belongs to.

◆ mInitialPositionsCache

Eigen::VectorXd dart::dynamics::InverseKinematics::GradientMethod::mInitialPositionsCache

privateinherited

Cache used by convertJacobianMethodOutputToGradient to avoid reallocating this vector on each iteration.

◆ mLastGradient

Eigen::VectorXd dart::dynamics::InverseKinematics::GradientMethod::mLastGradient

protectedinherited

The last gradient that was computed by this GradientMethod.

◆ mLastPositions

Eigen::VectorXd dart::dynamics::InverseKinematics::GradientMethod::mLastPositions

protectedinherited

The last positions that was passed to this GradientMethod.

◆ mLimitViolationCache

std::vector<Solution> dart::dynamics::InverseKinematics::Analytical::mLimitViolationCache

privateinherited

A cache for solutions that violate joint limits.

◆ mMethodName

std::string dart::dynamics::InverseKinematics::GradientMethod::mMethodName

protectedinherited

The name of this method.

◆ mObservers

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

mutableprotectedinherited

List of current Observers.

◆ mOutOfReachCache

std::vector<Solution> dart::dynamics::InverseKinematics::Analytical::mOutOfReachCache

privateinherited

A cache for the out of reach solutions.

◆ mRestoreConfigCache

Eigen::VectorXd dart::dynamics::InverseKinematics::Analytical::mRestoreConfigCache

privateinherited

A cache for storing the current configuration so that it can be restored later.

This is different from mConfigCache which will not be used to restore the configuration.

◆ mSolutions

std::vector<Solution> dart::dynamics::InverseKinematics::Analytical::mSolutions

protectedinherited

Vector of solutions.

◆ mTargetRotation

std::array<IkReal, 9> dart::dynamics::IkFast::mTargetRotation

private

Cache data for the target rotation used by IKFast.

◆ mTargetTranspose

std::array<IkReal, 3> dart::dynamics::IkFast::mTargetTranspose

private

Cache data for the target translation used by IKFast.

◆ mValidSolutionsCache

std::vector<Solution> dart::dynamics::InverseKinematics::Analytical::mValidSolutionsCache

privateinherited

A cache for the valid solutions.

The valid and invalid solution caches are kept separate so that they can each be sorted by quality individually. Valid solutions will always be at the top of mFinalResults even if their quality is scored below the invalid solutions.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ QualityComparison

Member Enumeration Documentation

◆ ExtraDofUtilization

◆ IkType

◆ Validity_t

Constructor & Destructor Documentation

◆ IkFast()

Member Function Documentation

◆ addExtraDofGradient()

◆ addObserver()

◆ applyWeights()

◆ checkSolutionJointLimits()

◆ clampGradient()

◆ clearCache()

◆ clone()

◆ computeFk() [1/2]

◆ computeFk() [2/2]

◆ computeGradient()

◆ computeIk()

◆ computeSolutions()

◆ configure()

◆ constructDofMap()

◆ convertJacobianMethodOutputToGradient()

◆ evalGradient()

◆ getAnalyticalProperties()

◆ getComponentWeights()

◆ getComponentWiseClamp()

◆ getDofs()

◆ getExtraDofUtilization()

◆ getExtraErrorLengthClamp()

◆ getFreeDofs()

◆ getFreeParameters()

◆ getGradientMethodProperties()

◆ getIK() [1/2]

◆ getIK() [2/2]

◆ getIkFastVersion()

◆ getIkFastVersion2()

◆ getIkRealSize()

◆ getIkType()

◆ getIkType2()

◆ getKinematicsHash()

◆ getKinematicsHash2()

◆ getMethodName()

◆ getNumFreeParameters()

◆ getNumFreeParameters2()

◆ getNumJoints()

◆ getNumJoints2()

◆ getPositions()

◆ getSolutions() [1/2]

◆ getSolutions() [2/2]

◆ isConfigured()

◆ removeObserver()

◆ resetQualityComparisonFunction()

◆ sendDestructionNotification()

◆ setComponentWeights()

◆ setComponentWiseClamp()

◆ setExtraDofUtilization()

◆ setExtraErrorLengthClamp()

◆ setPositions()

◆ setQualityComparisonFunction()

Member Data Documentation

◆ mAnalyticalP

◆ mConfigCache

◆ mConfigured

◆ mDofMap

◆ mDofs

◆ mExtraDofGradCache

◆ mExtraDofs

◆ mFreeDofs

◆ mFreeParams

◆ mGradientP

◆ mIK

◆ mInitialPositionsCache