IKQPSolver Class Reference

Iterative inverse kinematics solved based on the QPController. More...

#include <IKQPSolver.hpp>

Inherits IterativeIK.

Public Member Functions
	IKQPSolver (rw::models::SerialDevice *device, const rw::kinematics::State &state)
	Constructs IKQPSolver for device. More...
std::vector< rw::math::Q >	solve (const rw::math::Transform3D<> &baseTend, const rw::kinematics::State &state) const
	Calculates the inverse kinematics. More...
void	setCheckJointLimits (bool limit)
	Specifies whether to check joint limits before returning a solution. More...
Public Member Functions inherited from IterativeIK
virtual	~IterativeIK ()
	Destructor.
virtual void	setMaxError (double maxError)
	Sets the maximal error for a solution. More...
virtual double	getMaxError () const
	Returns the maximal error for a solution. More...
virtual void	setMaxIterations (int maxIterations)
	Sets the maximal number of iterations allowed. More...
virtual int	getMaxIterations () const
	Returns the maximal number of iterations.
virtual rw::core::PropertyMap &	getProperties ()
	Returns the PropertyMap. More...
virtual const rw::core::PropertyMap &	getProperties () const
	Returns the PropertyMap return Reference to the PropertyMap.
Public Member Functions inherited from InvKinSolver
virtual	~InvKinSolver ()
	destructor
virtual std::vector< math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const rw::kinematics::State &state) const =0
	Calculates the inverse kinematics. More...
virtual rw::core::Ptr< const rw::kinematics::Frame >	getTCP () const =0
	Returns the Tool Center Point (TCP) used when solving the IK problem. More...

Additional Inherited Members
Public Types inherited from IterativeIK
typedef rw::core::Ptr< IterativeIK >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const IterativeIK >	CPtr
	smart pointer type to this const class
Public Types inherited from InvKinSolver
typedef rw::core::Ptr< InvKinSolver >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const InvKinSolver >	CPtr
	smart pointer type to this const class
Static Public Member Functions inherited from IterativeIK
static IterativeIK::Ptr	makeDefault (rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state)
	Default iterative inverse kinematics solver for a device and state. More...
Protected Member Functions inherited from IterativeIK
	IterativeIK ()
	Constructor.

Detailed Description

Iterative inverse kinematics solved based on the QPController.

The IKQPSolver works very similar to the SimpleSolver. However, instead of using a simple inverse Jacobian it uses the rw::algorithms::QPController making it robust to singularities and ensuring joint limits.

Usually the IKQPSolver runs order of magnitudes slower than the standard SimpleSolver. Solutions returned by the IKQPSolver might not be exact solutions, but are least square fits. Given a target outside the robot workspace the IKQPSolver will, given enough iterations, return the least square solution.

Notice that the IKQPSolver is a local method. It there is thus no guarantee that the solution returned will be the global least square.

Constructor & Destructor Documentation

IKQPSolver()

IKQPSolver	(	rw::models::SerialDevice *	device,
		const rw::kinematics::State &	state
	)

Constructs IKQPSolver for device.

It is required that the device has correct joint position, velocity and acceleration limits.

Parameters

device	[in] Device to solve for *
state	[in] State of the workcell

Member Function Documentation

setCheckJointLimits()

void setCheckJointLimits ( bool  check )

inlinevirtual

Specifies whether to check joint limits before returning a solution.

Parameters

check

[in] If true the method should perform a check that joints are within bounds.

Implements InvKinSolver.

solve()

std::vector<rw::math::Q> solve	(	const rw::math::Transform3D<> &	baseTend,
		const rw::kinematics::State &	state
	)		const

Calculates the inverse kinematics.

Given a desired \(\robabx{}{desired}{\mathbf{T}}\) and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend	[in] Desired base to end transformation \( \robabx{}{desired}{\mathbf{T}}\)
state	[in] State of the device from which to start the iterations

Returns

List of solutions. Notice that the list may be empty.

Note

The targets baseTend must be defined relative to the base of the robot/device.

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The documentation for this class was generated from the following file:

• IKQPSolver.hpp