#include <Kinematic.h>

Inheritance diagram for rl::mdl::Kinematic:

[legend]

Public Member Functions
	Kinematic ()

virtual	~Kinematic ()

Model *	clone () const

bool	calculateInversePosition (const ::rl::math::Transform &x, const ::std::size_t &leaf=0, const ::rl::math::Real &delta=::std::numeric_limits< ::rl::math::Real >::infinity(), const ::rl::math::Real &epsilon=1.0e-3f, const ::std::size_t &iterations=1000)
	Resolved motion rate control. More...

void	calculateJacobian ()

void	calculateJacobian (::rl::math::Matrix &J)
	Calculate Jacobian matrix. More...

void	calculateJacobianDerivative ()

void	calculateJacobianDerivative (::rl::math::Vector &Jdqd)
	Calculate Jacobian derivative matrix. More...

void	calculateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)

void	calculateJacobianInverse (const ::rl::math::Matrix &J, ::rl::math::Matrix &invJ, const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) const
	Calculate Jacobian matrix inverse. More...

::rl::math::Real	calculateManipulabilityMeasure () const
	Calculate manipulability measure. More...

::rl::math::Real	calculateManipulabilityMeasure (const ::rl::math::Matrix &J) const

void	forwardAcceleration ()

void	forwardPosition ()

void	forwardVelocity ()

const ::rl::math::Matrix &	getJacobian () const

const ::rl::math::Vector &	getJacobianDerivative () const

const ::rl::math::Matrix &	getJacobianInverse () const

bool	isSingular () const
	Check if current configuration is singular. More...

bool	isSingular (const ::rl::math::Matrix &J) const

virtual void	update ()

Public Member Functions inherited from rl::mdl::Metric
	Metric ()

virtual	~Metric ()

void	clip (::rl::math::Vector &q) const

Model *	clone () const

::rl::math::Real	distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const

void	interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const

::rl::math::Real	inverseOfTransformedDistance (const ::rl::math::Real &d) const

bool	isValid (const ::rl::math::Vector &q) const

::rl::math::Real	maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const

::rl::math::Real	minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const

::rl::math::Real	minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const

::rl::math::Real	newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const

void	step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const

::rl::math::Real	transformedDistance (const ::rl::math::Real &d) const

::rl::math::Real	transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const

Public Member Functions inherited from rl::mdl::Model
	Model ()

virtual	~Model ()

void	add (Compound compound, const Frame a, const Frame *b)

void	add (Frame *frame)

void	add (Transform transform, const Frame a, const Frame *b)

bool	areColliding (const ::std::size_t &i, const ::std::size_t &j) const

Model *	clone () const

void	getAcceleration (::rl::math::Vector &qdd) const

void	getAccelerationUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

::std::size_t	getBodies () const

Body *	getBody (const ::std::size_t &i) const

::std::size_t	getDof () const

::std::size_t	getDofPosition () const

const ::rl::math::Transform &	getFrame (const ::std::size_t &i) const

Joint *	getJoint (const ::std::size_t &i) const

::std::size_t	getJoints () const

const ::rl::math::MotionVector &	getOperationalAcceleration (const ::std::size_t &i) const

::std::size_t	getOperationalDof () const

const ::rl::math::ForceVector &	getOperationalForce (const ::std::size_t &i) const

const ::rl::math::Transform &	getOperationalPosition (const ::std::size_t &i) const

const ::rl::math::MotionVector &	getOperationalVelocity (const ::std::size_t &i) const

const ::std::string &	getManufacturer () const

void	getMaximum (::rl::math::Vector &max) const

void	getMinimum (::rl::math::Vector &min) const

const ::std::string &	getName () const

void	getPosition (::rl::math::Vector &q) const

void	getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

void	getTorque (::rl::math::Vector &tau) const

void	getTorqueUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

void	getSpeed (::rl::math::Vector &speed) const

void	getSpeedUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

void	getVelocity (::rl::math::Vector &qd) const

void	getVelocityUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

bool	isColliding (const ::std::size_t &i) const

void	replace (Compound compound, Transform transform)

void	replace (Transform transform, Compound compound)

void	remove (Compound *compound)

void	remove (Frame *frame)

void	remove (Transform *transform)

void	setAcceleration (const ::rl::math::Vector &qdd)

void	setManufacturer (const ::std::string &manufacturer)

void	setName (const ::std::string &name)

void	setOperationalVelocity (const ::std::size_t &i, const ::rl::math::MotionVector &v) const

void	setPosition (const ::rl::math::Vector &q)

void	setTorque (const ::rl::math::Vector &tau)

void	setVelocity (const ::rl::math::Vector &qd)

::rl::math::Transform &	tool (const ::std::size_t &i=0)

const ::rl::math::Transform &	tool (const ::std::size_t &i=0) const

::rl::math::Transform &	world ()

const ::rl::math::Transform &	world () const

Protected Attributes
::rl::math::Matrix	invJ

::rl::math::Matrix	J

::rl::math::Vector	Jdqd

Protected Attributes inherited from rl::mdl::Model
::std::vector< Body * >	bodies

::std::vector< Element * >	elements

::std::vector< Frame * >	frames

::std::vector< Joint * >	joints

::std::vector< Vertex >	leaves

::std::string	manufacturer

::std::string	name

Vertex	root

::std::vector< Edge >	tools

::std::vector< Transform * >	transforms

Tree	tree

Additional Inherited Members
Protected Types inherited from rl::mdl::Model
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::property< ::boost::vertex_color_t, Compound , ::boost::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound , ::boost::shared_ptr< Transform > >, ::boost::no_property, ::boost::listS >	Tree

typedef ::boost::graph_traits< Tree >::edge_descriptor	Edge

typedef ::boost::graph_traits< Tree >::edge_iterator	EdgeIterator

typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair

typedef ::boost::graph_traits< Tree >::in_edge_iterator	InEdgeIterator

typedef ::std::pair< InEdgeIterator, InEdgeIterator >	InEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::out_edge_iterator	OutEdgeIterator

typedef ::std::pair< OutEdgeIterator, OutEdgeIterator >	OutEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::vertex_descriptor	Vertex

typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator

typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

Protected Member Functions inherited from rl::mdl::Model
void	update (const Vertex &u)

Constructor & Destructor Documentation

◆ Kinematic()

rl::mdl::Kinematic::Kinematic ( )

◆ ~Kinematic()

rl::mdl::Kinematic::~Kinematic ( )

virtual

Member Function Documentation

◆ calculateInversePosition()

bool rl::mdl::Kinematic::calculateInversePosition	(	const ::rl::math::Transform &	x,
		const ::std::size_t &	leaf = `0`,
		const ::rl::math::Real &	delta = `::std::numeric_limits< ::rl::math::Real >::infinity()`,
		const ::rl::math::Real &	epsilon = `1.0e-3f`,
		const ::std::size_t &	iterations = `1000`
	)

Resolved motion rate control.

Precondition: setPosition()

Postcondition: getPosition()

Side Effects:: calculateJacobian()

calculateJacobianInverse()

forwardPosition()

◆ calculateJacobian() [1/2]

void rl::mdl::Kinematic::calculateJacobian ( )

◆ calculateJacobian() [2/2]

void rl::mdl::Kinematic::calculateJacobian ( ::rl::math::Matrix & J )

Calculate Jacobian matrix.

Precondition: setPosition()

Side Effects:: forwardVelocity()

setVelocity()

◆ calculateJacobianDerivative() [1/2]

void rl::mdl::Kinematic::calculateJacobianDerivative ( )

◆ calculateJacobianDerivative() [2/2]

void rl::mdl::Kinematic::calculateJacobianDerivative ( ::rl::math::Vector & Jdqd )

Calculate Jacobian derivative matrix.

Precondition: setPosition(); setVelocity()

Side Effects:: forwardAcceleration()

forwardVelocity()

setAcceleration()

◆ calculateJacobianInverse() [1/2]

void rl::mdl::Kinematic::calculateJacobianInverse	(	const ::rl::math::Matrix &	J,
		::rl::math::Matrix &	invJ,
		const ::rl::math::Real &	lambda = `0.0f`,
		const bool &	doSvd = `true`
	)		const

Calculate Jacobian matrix inverse.

Precondition: calculateJacobian()

◆ calculateJacobianInverse() [2/2]

void rl::mdl::Kinematic::calculateJacobianInverse	(	const ::rl::math::Real &	lambda = `0.0f`,
		const bool &	doSvd = `true`
	)

◆ calculateManipulabilityMeasure() [1/2]

rl::math::Real rl::mdl::Kinematic::calculateManipulabilityMeasure ( ) const

Calculate manipulability measure.

Precondition: calculateJacobian()

◆ calculateManipulabilityMeasure() [2/2]

rl::math::Real rl::mdl::Kinematic::calculateManipulabilityMeasure ( const ::rl::math::Matrix & J ) const

◆ clone()

Model * rl::mdl::Kinematic::clone ( ) const

◆ forwardAcceleration()

void rl::mdl::Kinematic::forwardAcceleration ( )

Precondition: setAcceleration(); setPosition(); setVelocity()

Postcondition: getOperationalAcceleration()

◆ forwardPosition()

void rl::mdl::Kinematic::forwardPosition ( )

Precondition: setPosition()

Postcondition: getOperationalPosition()

◆ forwardVelocity()

void rl::mdl::Kinematic::forwardVelocity ( )

Precondition: setPosition(); setVelocity()

Postcondition: getOperationalVelocity()

◆ getJacobian()

const ::rl::math::Matrix & rl::mdl::Kinematic::getJacobian ( ) const

◆ getJacobianDerivative()

const ::rl::math::Vector & rl::mdl::Kinematic::getJacobianDerivative ( ) const

◆ getJacobianInverse()

const ::rl::math::Matrix & rl::mdl::Kinematic::getJacobianInverse ( ) const

◆ isSingular() [1/2]

bool rl::mdl::Kinematic::isSingular ( ) const

Check if current configuration is singular.

Precondition: calculateJacobian()

◆ isSingular() [2/2]

bool rl::mdl::Kinematic::isSingular ( const ::rl::math::Matrix & J ) const

◆ update()

void rl::mdl::Kinematic::update ( )

virtual

Reimplemented from rl::mdl::Model.

Reimplemented in rl::mdl::Dynamic.

Member Data Documentation

◆ invJ

::rl::math::Matrix rl::mdl::Kinematic::invJ

protected

◆ J

::rl::math::Matrix rl::mdl::Kinematic::J

protected

◆ Jdqd

::rl::math::Vector rl::mdl::Kinematic::Jdqd

protected

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

rl/mdl/Kinematic.h
rl/mdl/Kinematic.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Kinematic()

◆ ~Kinematic()

Member Function Documentation

◆ calculateInversePosition()

◆ calculateJacobian() [1/2]

◆ calculateJacobian() [2/2]

◆ calculateJacobianDerivative() [1/2]

◆ calculateJacobianDerivative() [2/2]

◆ calculateJacobianInverse() [1/2]

◆ calculateJacobianInverse() [2/2]

◆ calculateManipulabilityMeasure() [1/2]

◆ calculateManipulabilityMeasure() [2/2]

◆ clone()

◆ forwardAcceleration()

◆ forwardPosition()

◆ forwardVelocity()

◆ getJacobian()

◆ getJacobianDerivative()

◆ getJacobianInverse()

◆ isSingular() [1/2]

◆ isSingular() [2/2]

◆ update()

Member Data Documentation

◆ invJ

◆ J

◆ Jdqd