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

A class that calculates the inverse kinematics of an arm. More...

#include <InverseArmKinematics.h>

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

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

Public Member Functions
	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
virtual navtypes::Vectord< N >	solve (const navtypes::Vectord< D > &eePos, const navtypes::Vectord< N > &jointAngles, bool &success) const =0
	Solve for the joint angles that yield the given EE position.

Protected Attributes
const std::shared_ptr< const ForwardArmKinematics< D, N > >	fk

Detailed Description

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

A class that calculates the 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.

Constructor & Destructor Documentation

InverseArmKinematics()

template<unsigned int D, unsigned int N>

kinematics::InverseArmKinematics< D, N >::InverseArmKinematics ( std::shared_ptr< const ForwardArmKinematics< D, N > > fk )

inline

Construct an IK object.

Parameters

fk	The forward kinematics that are inverted by this class.

Member Function Documentation

eePosToJointPos() [1/2]

template<unsigned int D, unsigned int N>

navtypes::Vectord< N > kinematics::InverseArmKinematics< D, N >::eePosToJointPos ( const navtypes::Vectord< D > & eePos, const navtypes::Vectord< N > & currJointPos ) const

inline

Calculate the joint angles that yield the desired EE position.

Warning

This may fail, for multiple reasons. To check for success, use the overload of this method with the success parameter.

Parameters

eePos	Desired EE position.
currJointPos	The current joint angles.

Returns

navtypes::Vectord<N> Joint angles that yield the desired EE position.

eePosToJointPos() [2/2]

template<unsigned int D, unsigned int N>

virtual navtypes::Vectord< N > kinematics::InverseArmKinematics< D, N >::eePosToJointPos ( const navtypes::Vectord< D > & eePos, const navtypes::Vectord< N > & jointAngles, bool & success ) const

inlinevirtual

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

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.

solve()

template<unsigned int D, unsigned int N>

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

protectedpure virtual

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.

Implemented in kinematics::ArmKinematics< D, N >, and kinematics::ArmKinematics< 2, N >.

---

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

• src/kinematics/InverseArmKinematics.h