ErrorMethod is a base class for different ways of computing the error of an InverseKinematics module. More...

#include <InverseKinematics.hpp>

Inheritance diagram for dart::dynamics::InverseKinematics::ErrorMethod:

Classes
struct	Properties
	The Properties struct contains settings that are commonly used by methods that compute error for inverse kinematics. More...

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

Public Member Functions
	ErrorMethod (InverseKinematics *_ik, const std::string &_methodName, const Properties &_properties=Properties())
	Constructor. More...

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

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

virtual Eigen::Vector6d	computeError ()=0
	Override this function with your implementation of the error vector computation. More...

virtual Eigen::Isometry3d	computeDesiredTransform (const Eigen::Isometry3d &_currentTf, const Eigen::Vector6d &_error)=0
	Override this function with your implementation of computing the desired given the current transform and error vector. 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
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

ErrorMethod is a base class for different ways of computing the error of an InverseKinematics module.

Member Typedef Documentation

◆ Bounds

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

Constructor & Destructor Documentation

◆ ErrorMethod()

dart::dynamics::InverseKinematics::ErrorMethod::ErrorMethod	(	InverseKinematics *	_ik,
		const std::string &	_methodName,
		const Properties &	_properties = `Properties()`
	)

Constructor.

◆ ~ErrorMethod()

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

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 ( )

Clear the cache to force the error to be recomputed.

It should generally not be necessary to call this function.

◆ clone()

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

pure virtual

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

Implemented in dart::dynamics::InverseKinematics::TaskSpaceRegion.

◆ computeDesiredTransform()

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

pure virtual

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.

Implemented in dart::dynamics::InverseKinematics::TaskSpaceRegion.

◆ computeError()

virtual Eigen::Vector6d dart::dynamics::InverseKinematics::ErrorMethod::computeError ( )

pure virtual

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.

Implemented in dart::dynamics::InverseKinematics::TaskSpaceRegion.

◆ evalError()

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

This function is used to handle caching the error vector.

◆ getAngularBounds()

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

Get the error bounds for orientation.

◆ getAngularErrorWeights()

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

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

Get all the error bounds.

◆ getErrorLengthClamp()

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

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

Get the Properties of this ErrorMethod.

◆ getErrorWeights()

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

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

Get the error bounds for translation.

◆ getLinearErrorWeights()

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

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

Get the name of this ErrorMethod.

◆ 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)`
	)

Set the error bounds for orientation.

◆ setAngularBounds() [2/2]

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

Set the error bounds for orientation.

◆ setAngularErrorWeights()

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

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)`
	)

Set all the error bounds.

◆ setBounds() [2/2]

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

Set all the error bounds.

◆ setErrorLengthClamp()

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

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 )

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)`
	)

Set the error bounds for translation.

◆ setLinearBounds() [2/2]

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

Set the error bounds for translation.

◆ setLinearErrorWeights()

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

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

Member Data Documentation

◆ mErrorP

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

protected

The properties of this ErrorMethod.

◆ mIK

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

protected

Pointer to the IK module of this ErrorMethod.

◆ mLastError

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

protected

The last error vector computed by this ErrorMethod.

◆ mLastPositions

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

protected

The last joint positions passed into this ErrorMethod.

◆ mMethodName

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

protected

Name of this error method.

◆ mObservers

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

mutableprotectedinherited

List of current Observers.

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Bounds

Constructor & Destructor Documentation

◆ ErrorMethod()

◆ ~ErrorMethod()

Member Function Documentation

◆ addObserver()

◆ clearCache()

◆ clone()

◆ computeDesiredTransform()

◆ computeError()

◆ evalError()

◆ getAngularBounds()

◆ getAngularErrorWeights()

◆ getBounds()

◆ getErrorLengthClamp()

◆ getErrorMethodProperties()

◆ getErrorWeights()

◆ getLinearBounds()

◆ getLinearErrorWeights()

◆ getMethodName()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setAngularBounds() [1/2]

◆ setAngularBounds() [2/2]

◆ setAngularErrorWeights()

◆ setBounds() [1/2]

◆ setBounds() [2/2]

◆ setErrorLengthClamp()

◆ setErrorWeights()

◆ setLinearBounds() [1/2]

◆ setLinearBounds() [2/2]

◆ setLinearErrorWeights()

Member Data Documentation

◆ mErrorP

◆ mIK

◆ mLastError

◆ mLastPositions

◆ mMethodName

◆ mObservers