kinematics::ArmKinematics< D, N > Class Template Reference

A class that combines the forward and inverse kinematics of an arm. More...

#include <ArmKinematics.h>

Inheritance diagram for kinematics::ArmKinematics< D, N >:

Collaboration diagram for kinematics::ArmKinematics< D, N >:

Public Member Functions
	ArmKinematics (std::shared_ptr< const ForwardArmKinematics< D, N > > forwardKin, std::shared_ptr< const InverseArmKinematics< D, N > > inverseKin)
bool	satisfiesConstraints (const navtypes::Vectord< N > &jointPos) const override
	Check if the given joint configuration is valid.
navtypes::Vectord< N >	getSegLens () const override
	Get the segment lengths for this arm.
navtypes::Vectord< D >	jointPosToEEPos (const navtypes::Vectord< N > &jointPos) const override
	Given a joint position, calculate the current EE position.
navtypes::Matrixd< D, N >	getJacobian (const navtypes::Vectord< N > &jointPos) const override
	Get the jacobian matrix for the arm at the given joint angles.
Public Member Functions inherited from kinematics::ForwardArmKinematics< D, N >
constexpr unsigned int	getNumSegments () const
	Get the number of segments in this arm.
constexpr unsigned int	getNumDimensions () const
	Get the number of dimensions of the end effector space.
navtypes::Vectord< D >	jointVelToEEVel (const navtypes::Vectord< N > &jointPos, const navtypes::Vectord< N > &jointVel) const
	Calculate the EE velocity.
navtypes::Vectord< N >	eeVelToJointVel (const navtypes::Vectord< N > &jointPos, const Eigen::Vector2d &eeVel) const
	Calculates the joint velocity that yields the desired EE velocity.
Public Member Functions inherited from kinematics::InverseArmKinematics< D, N >
	InverseArmKinematics (std::shared_ptr< const ForwardArmKinematics< D, N > > fk)
	Construct an IK object.
navtypes::Vectord< N >	eePosToJointPos (const navtypes::Vectord< D > &eePos, const navtypes::Vectord< N > &currJointPos) const
	Calculate the joint angles that yield the desired EE position.
virtual navtypes::Vectord< N >	eePosToJointPos (const navtypes::Vectord< D > &eePos, const navtypes::Vectord< N > &jointAngles, bool &success) const
	Solve for the joint angles that yield the given EE position.

Protected Member Functions
navtypes::Vectord< N >	solve (const navtypes::Vectord< D > &eePos, const navtypes::Vectord< N > &jointAngles, bool &success) const override
	Solve for the joint angles that yield the given EE position.

Additional Inherited Members
Protected Attributes inherited from kinematics::InverseArmKinematics< D, N >
const std::shared_ptr< const ForwardArmKinematics< D, N > >	fk

Detailed Description

template<unsigned int D, unsigned int N>
class kinematics::ArmKinematics< D, N >

A class that combines the forward and inverse kinematics of an arm.

Template Parameters

D	The number of dimensions of the end effector space.
N	The number of joints in the arm.

Member Function Documentation

getJacobian()

template<unsigned int D, unsigned int N>

navtypes::Matrixd< D, N > kinematics::ArmKinematics< D, N >::getJacobian ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

Get the jacobian matrix for the arm at the given joint angles.

Parameters

jointPos

The joint angles of the arm.

Returns

navtypes::Matrixd<D, N> The jacobian matrix at the point.

See also

https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant

Implements kinematics::ForwardArmKinematics< D, N >.

getSegLens()

template<unsigned int D, unsigned int N>

navtypes::Vectord< N > kinematics::ArmKinematics< D, N >::getSegLens ( ) const

inlineoverridevirtual

Get the segment lengths for this arm.

Returns

The vector of segment lengths

Implements kinematics::ForwardArmKinematics< D, N >.

jointPosToEEPos()

template<unsigned int D, unsigned int N>

navtypes::Vectord< D > kinematics::ArmKinematics< D, N >::jointPosToEEPos ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

Given a joint position, calculate the current EE position.

Parameters

jointPos

Current joint position.

Returns

navtypes::Vectord<D> The EE position.

Implements kinematics::ForwardArmKinematics< D, N >.

satisfiesConstraints()

template<unsigned int D, unsigned int N>

bool kinematics::ArmKinematics< D, N >::satisfiesConstraints ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

Check if the given joint configuration is valid.

Parameters

jointPos

The joint positions to check.

Returns

true iff the joint configuration is valid, false otherwise.

Implements kinematics::ForwardArmKinematics< D, N >.

solve()

template<unsigned int D, unsigned int N>

navtypes::Vectord< N > kinematics::ArmKinematics< D, N >::solve ( const navtypes::Vectord< D > & eePos, const navtypes::Vectord< N > & jointAngles, bool & success ) const

inlineoverrideprotectedvirtual

Solve for the joint angles that yield the given EE position.

This method does not need to verify that the solution verifies the FK constraints, or if the target position is within the arm's reach.

Parameters

	eePos	The desired end effector position.
	currJointPos	The current joint angles. Used as a starting guess for the IK solver.
[out]	success	Output parameter that signals if the IK solver succeeded. Failure may occur if the target is unreachable or the IK solver exceeds the iteration limit.

Returns

navtypes::Vectord<N> The target joint angles that achieve the desired EE position.

Implements kinematics::InverseArmKinematics< D, N >.

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

• src/kinematics/ArmKinematics.h