DART  6.7.3
dart::dynamics::HierarchicalIK Class Referenceabstract

The HierarchicalIK class provides a convenient way of setting up a hierarchical inverse kinematics optimization problem which combines several InverseKinematics problems into one. More...

#include <HierarchicalIK.hpp>

Inheritance diagram for dart::dynamics::HierarchicalIK:
dart::common::Subject dart::dynamics::CompositeIK dart::dynamics::WholeBodyIK

Classes

class  Constraint
 The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module. More...
 
class  Function
 This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to. More...
 
class  Objective
 The HierarchicalIK::Objective Function is simply used to merge the objective and null space objective functions that are being held by this HierarchicalIK module. More...
 

Public Member Functions

virtual ~HierarchicalIK ()=default
 Virtual destructor. 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...
 
virtual std::shared_ptr< HierarchicalIKclone (const SkeletonPtr &_newSkel) const =0
 Clone this HierarchicalIK module. 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::FunctiongetObjective () 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::FunctiongetNullSpaceObjective () 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::ProblemgetProblem () 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::SolvergetSolver () const
 Get the Solver that is being used by this IK module. More...
 
virtual void refreshIKHierarchy ()=0
 Refresh the IK hierarchy of this IK module. More...
 
const IKHierarchygetIKHierarchy () 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...
 

Protected Member Functions

 HierarchicalIK (const SkeletonPtr &_skeleton)
 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::ProblemmProblem
 The Problem that this IK module is maintaining. More...
 
std::shared_ptr< optimizer::SolvermSolver
 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< HierarchicalIKmPtr
 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::JacobianmSVDCache
 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 HierarchicalIK class provides a convenient way of setting up a hierarchical inverse kinematics optimization problem which combines several InverseKinematics problems into one.

InverseKinematics problems with a larger hierarchy level will be projected into null spaces of the problems that have a smaller hierarchy number.

Note that the HierarchicalIK will only account for the InverseKinematics::ErrorMethod and InverseKinematics::GradientMethod that the IK modules specify; it will ignore any other constraints or objectives put into the IK modules' Problems. Any additional constraints or objectives that you want the HierarchicalIK to solve should be put directly into the HierarchicalIK's Problem.

Constructor & Destructor Documentation

◆ ~HierarchicalIK()

virtual dart::dynamics::HierarchicalIK::~HierarchicalIK ( )
virtualdefault

Virtual destructor.

◆ HierarchicalIK()

dart::dynamics::HierarchicalIK::HierarchicalIK ( const SkeletonPtr _skeleton)
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 ( )

Clear the caches of this IK module.

It should generally not be necessary to call this function.

◆ clone()

virtual std::shared_ptr<HierarchicalIK> dart::dynamics::HierarchicalIK::clone ( const SkeletonPtr _newSkel) const
pure virtual

◆ computeNullSpaces()

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

Compute the null spaces of each level of the hierarchy.

◆ copyOverSetup()

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

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

◆ getAffiliation() [1/2]

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

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

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

Get the IK hierarchy of this IK module.

◆ getNullSpaceObjective() [1/2]

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

Get the null space objective for this HierarchicalIK.

◆ getNullSpaceObjective() [2/2]

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

Get the null space objective for this HierarchicalIK.

◆ getObjective() [1/2]

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

Get the objective function for this HierarchicalIK.

◆ getObjective() [2/2]

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

Get the objective function for this HierarchicalIK.

◆ getPositions()

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

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 ( )

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

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

◆ getSkeleton() [1/2]

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

Get the Skeleton that this IK module is associated with.

◆ getSkeleton() [2/2]

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

Get the Skeleton that this IK module is associated with.

◆ getSolver() [1/2]

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

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

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

◆ hasNullSpaceObjective()

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

Returns true if this HierarchicalIK has a null space objective.

◆ initialize()

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

Setup the module.

◆ refreshIKHierarchy()

virtual void dart::dynamics::HierarchicalIK::refreshIKHierarchy ( )
pure virtual

Refresh the IK hierarchy of this IK module.

Implemented in dart::dynamics::WholeBodyIK, and dart::dynamics::CompositeIK.

◆ 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)

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)

Set the null space objective for this HierarchicalIK.

◆ setObjective()

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

Set the objective function for this HierarchicalIK.

◆ setPositions()

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

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)

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)

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.

◆ solve() [2/2]

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

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

Member Data Documentation

◆ mHierarchy

IKHierarchy dart::dynamics::HierarchicalIK::mHierarchy
protected

Cache for the IK hierarcy.

◆ mJacCache

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

Cache for Jacobians.

◆ mLastPositions

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

Cache for the last positions.

◆ mNullSpaceCache

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

Cache for null space computations.

◆ mNullSpaceObjective

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

The null space Objective of this IK module.

◆ mObjective

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

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
mutableprotected

Cache for a partial null space computation.

◆ mProblem

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

The Problem that this IK module is maintaining.

◆ mPtr

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

Weak pointer to self.

◆ mSkeleton

WeakSkeletonPtr dart::dynamics::HierarchicalIK::mSkeleton
protected

Pointer to the Skeleton that this IK is tied to.

◆ mSolver

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

The Solver that this IK module will use.

◆ mSVDCache

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

Cache for the null space SVD.