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OSCAR::IKCCD Class Reference
[InverseKinematics]

#include <IKCCD.h>

Inheritance diagram for OSCAR::IKCCD:

[legend]List of all members.


Public Methods
	IKCCD (const String &fileName, JointVector &initial_joint, double max_error=0.1, OSCARError &err=DUMMY_ERROR(noError))
	IKCCD (const DHData &dhParams, JointVector &initial_joint, double max_error=0.1)
virtual	~IKCCD ()
bool	GetJointPosition (const Xform &desiredHand, JointVector &jointPosition)
bool	GetJointPosition (const HandPose &desiredHandPose, JointVector &jointPosition)
void	GetJointPosition (JointVector &currentJointPosition) const
unsigned int	GetSolutionProperties () const
void	SetTool (const Xform &toolPose)
void	SetTool (const Vector3D &toolPoint)
void	SetBase (const Xform &basePose)
void	SetBase (const Vector3D &basePoint)
bool	SetJointPosition (const JointVector &jointPosition)
void	SetMaximumIterations (unsigned int noIterations)
unsigned int	GetMaximumIterations (void) const
bool	SetErrorTolerance (double maxError)
bool	GetErrorTolerance (double &maxError)
bool	SetWeightFactors (Vector &weightA)
bool	GetWeightFactors (Vector &weightA)
long	SetActiveCoordinates (const bool *activeA)
long	GetActiveCoordinates (bool *activeA=NULL)
bool	SetOffsets (JointVector &offsetA)
bool	GetOffsets (JointVector &offsetA)
bool	SetMinMax (JointVector &minA, JointVector &maxA)
bool	GetMinMax (JointVector &minA, JointVector &maxA)
virtual void	CheckDependencies (JointVector &)
Protected Attributes
unsigned int	max_iterationM
unsigned int	solutionIterationCount
double	max_errorM
unsigned int	dofM
Vector	weightM
JointVector	offsetM
JointVector	jointsM
JointVector	minM
JointVector	maxM
bool	activeM [6]
FKPosition *	forkinM

Detailed Description

Author:: M. Goza

Constructor & Destructor Documentation

OSCAR::IKCCD::IKCCD ( const String & fileName,

JointVector & initial_joint,

double max_error = 0.1,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This is the constructor for an object of type IKCCD.
Parameters:

fileName The name of the DH File to read.

initial_joint A Vector that specifies the initial joint angles in radians.

max_error The maximum error allowed in the solution. Default value is 0.1

err Use this to get error's generated inside the constructor call.

OSCAR::IKCCD::IKCCD ( const DHData & dhParams,

JointVector & initial_joint,

double max_error = 0.1

)

Constructor.
This is the constructor for an object of type IKCCD.
Parameters:

dhParams DH Parameters in a matrix from.

initial_joint A Vector that specifies the initial joint angles in radians.

max_error The maximum error allowed in the solution. Default value is 0.1

virtual OSCAR::IKCCD::~IKCCD ( ) [virtual]

Destructor.
This is the destructor for an object of type IKCCD.

Member Function Documentation

virtual void OSCAR::IKCCD::CheckDependencies ( JointVector & ) [inline, virtual]

long OSCAR::IKCCD::GetActiveCoordinates ( bool * activeA = NULL )

bool OSCAR::IKCCD::GetErrorTolerance ( double & maxError )

Get the value of Error Tolerance.
This method is used to get the value of Error Tolerance.
Parameters:

maxError On return, maxError contains the maximum tolerable error.

Returns:
True if successful. Otherwise False.

See also:
SetErrorTolerance()

void OSCAR::IKCCD::GetJointPosition ( JointVector & currentJointPosition ) const

Get the Joint position.
This method is used to get the current internal state of the inverse object. Each object of this type maintains a current joint angle configuration that is used as a starting point for the next inverse computation. This method queries that state.
Parameters:

currentJointPosition This is an Vector object of size DOF of the robot in which the current joint angles are returned in radians.

bool OSCAR::IKCCD::GetJointPosition ( const HandPose & desiredHandPose,

JointVector & jointPosition

) [virtual]

Get the Joint position.
This method is used to perform the inverse position solution using the resolved rate control inverse method.
Parameters:

desiredHandPose This is an HandPose object that specifies the end-effector constraints for which the inverse has to be computed.

jointPosition This is an Vector object of size DOF of the robot which holds the inverse solution in radians.

Returns:
True if successful. Otherwise False if the method failed to converge and reached the maximum iteration count. This indicates singularity. You can call GetSolutionProperty() to find out the number of iterations required to reach the inverse solution.

See also:
GetJointPosition(const Xform& desiredHand, Vector& jointPosition)
GetSolutionProperties()
SetMaximumIterations(unsigned int noIterations)
GetMaximumIterations()

Implements OSCAR::IKPosition.

bool OSCAR::IKCCD::GetJointPosition ( const Xform & desiredHand,

JointVector & jointPosition

) [virtual]

Get the Joint position.
This method is used to perform the inverse position solution using the resolved rate control inverse method.
Parameters:

desiredHand This is a Xform object that specifies the end-effector constraints for which the inverse has to be computed.

jointPosition This is a Vector object of size DOF of the robot which holds the inverse solution in radians.

Returns:
True if successful. Otherwise False if the method failed to converge and reached the maximum iteration count. This indicates singularity. You can call GetSolutionProperty() to find out the number of iterations required to reach the inverse solution.

See also:
GetJointPosition(const HandPose& desired_hand, Vector& solution)
GetSolutionProperties()
SetMaximumIterations(unsigned int noIterations)
GetMaximumIterations()

Implements OSCAR::IKPosition.

unsigned int OSCAR::IKCCD::GetMaximumIterations ( void ) const

Get the value of the bound set for the maximum number of iterations.
This method is used to get the value of the bound set for the maximum number of iterations. IKCCD uses an iterative algorithm to find the inverse solution. Use this method to query the upper bound to the number of iterations.
Returns:
A positive number that specifies an upper bound to the iteration count.

See also:
SetMaximumIterations()
GetSolutionProperties()

bool OSCAR::IKCCD::GetMinMax ( JointVector & minA,

JointVector & maxA

)

bool OSCAR::IKCCD::GetOffsets ( JointVector & offsetA )

unsigned int OSCAR::IKCCD::GetSolutionProperties ( ) const

Get the Solution Properties.
This method is used to get the number of iterations used to find the inverse solution. Call this method after a successful call to GetJointPosition.
Returns:
An integer that specifies the number of iterations it took to find the inverse solution. A -1 is returned if maximum iteration count was reached. This indicates a singularity.

See also:
GetJointPosition(const HandPose& desired_hand, Vector& solution)
GetJointPosition(const Xform& desiredHand, Vector& jointPosition)
SetMaximumIterations(unsigned int noIterations)
GetMaximumIterations()

bool OSCAR::IKCCD::GetWeightFactors ( Vector & weightA )

long OSCAR::IKCCD::SetActiveCoordinates ( const bool * activeA )

void OSCAR::IKCCD::SetBase ( const Vector3D & basePoint ) [virtual]

Set the location of the robot.
This method is used to set the location of the robot. This method is useful if your robots base frame (specified by DH parameters) is different from the world frame in which you are specifying end-effector coordinates.
Parameters:

basePoint A 3 size vector that specifies the position of the robot base frame as seen from the world frame. The units for position should be the same as the ones that you use for the DH parameters.

Reimplemented from OSCAR::Kinematics.

void OSCAR::IKCCD::SetBase ( const Xform & basePose ) [virtual]

Set the location and orientation of the robot.
This method is used to set the location and orientation of the robot. This method is useful if your robots base frame (specified by DH parameters) is different from the world frame in which you are specifying end-effector coordinates.
Parameters:

basePose A 4X4 matrix that specifies the position and orientation of robot base frame as seen from the world frame. The units for position should be the same as the ones that you use for the DH parameters.

Reimplemented from OSCAR::Kinematics.

bool OSCAR::IKCCD::SetErrorTolerance ( double maxError )

Set a value for Error Tolerance.
This method is used to set a value for Error Tolerance. IKCCD uses an iterative algorithm to find the inverse solution. As such, this algorithm stops iterating when the error value falls below a preset value. This method is used to specify the total error. The default error as specified in the constructor is 0.l units.
Parameters:

maxError The maximum tolerable error.

Returns:
True if successful. Otherwise False.

See also:
GetErrorTolerance()

bool OSCAR::IKCCD::SetJointPosition ( const JointVector & jointPosition )

Set to a new internal joint position state.
This method is used to reset to a new internal joint position state. This is necessary when you want to arbitrarily start the inverse solution at a joint configuration that is different from where it previously was.
Parameters:

jointPosition A Vector of size DOF that specifies the new joint angle state in Radians.

Returns:
True if jointPosition is of size DOF. Otherwise False.

void OSCAR::IKCCD::SetMaximumIterations ( unsigned int noIterations )

Set the bound for the maximum number of iterations.
This method is used to set the bound for the maximum number of iterations. IKCCD uses an iterative algorithm to find the inverse solution. Use this method to specify an upper bound to the number of iterations. The default is 100.
Parameters:

noIterations A positive number that specifies an upper bound to the iteration count.

See also:
GetMaximumIterations()
GetSolutionProperties()

bool OSCAR::IKCCD::SetMinMax ( JointVector & minA,

JointVector & maxA

)

bool OSCAR::IKCCD::SetOffsets ( JointVector & offsetA )

void OSCAR::IKCCD::SetTool ( const Vector3D & toolPoint ) [virtual]

Set the location and orientation of the tool point.
This method is used to set the location of the tool point in the last frame as specified by your DH parameters. Once the tool point is set, then the inverse assumes that the input enf-effector positions are for the tip of the tool point.
Parameters:

toolPoint A 3 long vector that specifies the position of the tool point. The units that should be the same as the units for the DH parameters.

Reimplemented from OSCAR::Kinematics.

void OSCAR::IKCCD::SetTool ( const Xform & toolPose ) [virtual]

Set the location and orientation of the tool point.
This method is used to set the location and orientation of the tool point in the last frame as specified by your DH parameters. Once the tool point is set, then the inverse assumes that the input enf-effector positions are for the tip of the tool point.
Parameters:

toolPose A Xform matrix that specifies the position and orientation of the tool point. The units that should be the same as the units for the DH parameters.

Reimplemented from OSCAR::Kinematics.

bool OSCAR::IKCCD::SetWeightFactors ( Vector & weightA )

Set the weights applied to the solution vector for each joint.
This method is used to set the weights applied to the solution vector for each joint. It determines the amount of influence each joint has on the solution. Values range from 0.0->1.0
Parameters:

weightA vector specifying the weight factor for each joint.

Returns:
True if successful. Otherwise False.