Inverse kinematics. More...

Classes
struct	fsb::OptimParameters

struct	fsb::InverseKinematicsResult

Enumerations
enum class	fsb::InverseKinematicsInfo : uint8_t { INVALID_INPUT = 0 , InverseKinematicsInfo::SUCCESS = 1 , InverseKinematicsInfo::WITHIN_FTOL = 2 , InverseKinematicsInfo::WITHIN_XTOL = 3 , InverseKinematicsInfo::WITHIN_FTOL_XTOL = 4 , InverseKinematicsInfo::MAXIMUM_EVALUATIONS_REACHED = 5 , InverseKinematicsInfo::SINGULAR_UPDATE_MATRIX = 6 }

Functions
OptimParameters	fsb::default_optim_parameters ()

InverseKinematicsResult	fsb::compute_inverse_kinematics (const BodyTree &body_tree, const OptimParameters &params, const JointSpacePosition &initial_config, size_t body_index, const Transform &target_pose, const Transform &base_pose=transform_identity())
	Compute inverse kinematics for a given end-effector pose.

Variables
size_t	fsb::OptimParameters::max_iterations
	Maximum number of iterations.

real_t	fsb::OptimParameters::objective_tol
	Objective function error tolerance for convergence.

real_t	fsb::OptimParameters::state_tol
	State vector error tolerance for convergence.

real_t	fsb::OptimParameters::damping_factor
	Damping factor for Levenberg-Marquardt algorithm.

MotionVector	fsb::OptimParameters::objective_weights
	Cartesian weights for objective function.

InverseKinematicsInfo	fsb::InverseKinematicsResult::info
	Convergence information.

JointSpacePosition	fsb::InverseKinematicsResult::joint_position
	Joint position.

BodyCartesianPva	fsb::InverseKinematicsResult::body_poses
	Body poses.

Jacobian	fsb::InverseKinematicsResult::jacobian
	Jacobian matrix.

Transform	fsb::InverseKinematicsResult::computed_pose
	Computed end-effector pose.

MotionVector	fsb::InverseKinematicsResult::error_pose
	Error between computed and desired pose.

size_t	fsb::InverseKinematicsResult::iterations
	Number of iterations.

Detailed Description

Inverse kinematics.

Enumeration Type Documentation

strong

Enumerator
SUCCESS	objective function converged
WITHIN_FTOL	both actual and predicted relative reductions in the sum of squares are at most ftol
WITHIN_XTOL	relative error between two consecutive iterates is at most xtol
WITHIN_FTOL_XTOL	conditions for WITHIN_FTOL and WITHIN_XTOL both hold
MAXIMUM_EVALUATIONS_REACHED	number of calls to fcn with iflag = 1 has reached maxfev
SINGULAR_UPDATE_MATRIX	singular matrix encountered

InverseKinematicsResult fsb::compute_inverse_kinematics	(	const BodyTree &	body_tree,
		const OptimParameters &	params,
		const JointSpacePosition &	initial_config,
		size_t	body_index,
		const Transform &	target_pose,
		const Transform &	base_pose = `transform_identity()`
	)

Compute inverse kinematics for a given end-effector pose.

Parameters

body_tree	Body tree with link definitions
params	Optimization parameters
initial_config	Initial joint configuration
body_index	Index of body to compute inverse kinematics for
target_pose	Desired body target pose
base_pose	Base pose (default is identity transform)