rl::kin::Kinematics Class Reference

#include <Kinematics.h>

Inheritance diagram for rl::kin::Kinematics:

Public Member Functions
	Kinematics ()
virtual	~Kinematics ()
bool	areColliding (const ::std::size_t &i, const ::std::size_t &j) const
	See if specified bodies should be tested for collisions with each other. More...
virtual void	clip (::rl::math::Vector &q) const
	Clip specified configuration to be within joint limits. More...
virtual Kinematics *	clone () const
virtual ::rl::math::Real	distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
	Calculate distance measure between specified configuration. More...
virtual const ::rl::math::Transform &	forwardPosition (const ::std::size_t &i=0) const
	Get forward position kinematics. More...
virtual void	forwardForce (const ::rl::math::Vector &tau, ::rl::math::Vector &f) const
	Calculate forward force kinematics. More...
virtual void	forwardVelocity (const ::rl::math::Vector &qdot, ::rl::math::Vector &xdot) const
	Calculate forward velocity kinematics. More...
::rl::math::Vector	generatePositionGaussian (const ::rl::math::Vector &rand, const ::rl::math::Vector &mean, const ::rl::math::Vector &sigma) const
::rl::math::Vector	generatePositionUniform (const ::rl::math::Vector &rand) const
::std::size_t	getBodies () const
	Get number of links. More...
::std::size_t	getDof () const
	Get number of degrees of freedom (DOF). More...
const ::rl::math::Transform &	getFrame (const ::std::size_t &i) const
	Get link frame. More...
const ::rl::math::Matrix &	getJacobian () const
	Get Jacobian. More...
const ::rl::math::Matrix &	getJacobianInverse () const
	Get Jacobian-Inverse. More...
Joint *	getJoint (const ::std::size_t &i) const
::rl::math::Real	getManipulabilityMeasure () const
	Get manipulability measure. More...
::std::string	getManufacturer () const
::rl::math::Real	getMaximum (const ::std::size_t &i) const
void	getMaximum (::rl::math::Vector &max) const
::rl::math::Real	getMinimum (const ::std::size_t &i) const
void	getMinimum (::rl::math::Vector &min) const
::std::string	getName () const
::std::size_t	getOperationalDof () const
	Get number of end effectors. More...
void	getPosition (::rl::math::Vector &q) const
	Get current joint position. More...
void	getPositionUnits (::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
virtual void	interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
virtual void	inverseForce (const ::rl::math::Vector &f, ::rl::math::Vector &tau) const
	Calculate inverse force kinematics. More...
virtual ::rl::math::Real	inverseOfTransformedDistance (const ::rl::math::Real &d) const
virtual bool	inversePosition (const ::rl::math::Transform &x, ::rl::math::Vector &q, 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)
	Calculate inverse position kinematics. More...
virtual void	inverseVelocity (const ::rl::math::Vector &xdot, ::rl::math::Vector &qdot) const
	Calculate inverse velocity kinematics. More...
bool	isColliding (const ::std::size_t &i) const
	See if specified body should be tested for collisions with the environment. More...
virtual bool	isSingular () const
	Check if current configuration is singular. More...
virtual bool	isValid (const ::rl::math::Vector &q) const
	Check if specified configuration is within joint limits. More...
virtual ::rl::math::Real	maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
virtual ::rl::math::Real	minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
virtual ::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
virtual ::rl::math::Real	newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const
void	setColliding (const ::std::size_t &i, const bool &doesCollide)
	Set if specified body should be tested for collisions with the environment. More...
void	setColliding (const ::std::size_t &i, const ::std::size_t &j, const bool &doCollide)
	Set if specified bodies should be tested for collisions with each other. More...
void	setPosition (const ::rl::math::Vector &q)
	Update current joint position. More...
virtual void	step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
::rl::math::Transform &	tool (const ::std::size_t &i=0)
const ::rl::math::Transform &	tool (const ::std::size_t &i=0) const
virtual ::rl::math::Real	transformedDistance (const ::rl::math::Real &d) const
virtual ::rl::math::Real	transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
virtual ::rl::math::Real	transformedDistance (const ::rl::math::Real &q1, const ::rl::math::Real &q2, const ::std::size_t &i) const
virtual void	updateFrames ()
	Update frames. More...
virtual void	updateJacobian ()
	Update Jacobian. More...
virtual void	updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
	Update Jacobian-Inverse. More...
::rl::math::Transform &	world ()
const ::rl::math::Transform &	world () const

Static Public Member Functions
static Kinematics *	create (const ::std::string &filename)

Protected Types
typedef ::boost::adjacency_list< ::boost::vecS, ::boost::vecS, ::boost::bidirectionalS, ::std::shared_ptr< Frame >, ::std::shared_ptr< Transform >, ::boost::no_property, ::boost::vecS >	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
void	update ()
void	update (Vertex &u)

Protected Attributes
::std::vector< Element * >	elements
::std::vector< Frame * >	frames
::std::vector< Vertex >	leaves
::std::vector< Link * >	links
::rl::math::Matrix	jacobian
::rl::math::Matrix	jacobianInverse
::std::vector< Joint * >	joints
::std::string	manufacturer
::std::string	name
Vertex	root
::std::vector< Edge >	tools
::std::vector< Transform * >	transforms
Tree	tree

Member Typedef Documentation

Edge

typedef ::boost::graph_traits<Tree>::edge_descriptor rl::kin::Kinematics::Edge

protected

EdgeIterator

typedef ::boost::graph_traits<Tree>::edge_iterator rl::kin::Kinematics::EdgeIterator

protected

EdgeIteratorPair

typedef ::std::pair<EdgeIterator, EdgeIterator> rl::kin::Kinematics::EdgeIteratorPair

protected

InEdgeIterator

typedef ::boost::graph_traits<Tree>::in_edge_iterator rl::kin::Kinematics::InEdgeIterator

protected

InEdgeIteratorPair

typedef ::std::pair<InEdgeIterator, InEdgeIterator> rl::kin::Kinematics::InEdgeIteratorPair

protected

OutEdgeIterator

typedef ::boost::graph_traits<Tree>::out_edge_iterator rl::kin::Kinematics::OutEdgeIterator

protected

OutEdgeIteratorPair

typedef ::std::pair<OutEdgeIterator, OutEdgeIterator> rl::kin::Kinematics::OutEdgeIteratorPair

protected

Tree

typedef ::boost::adjacency_list< ::boost::vecS, ::boost::vecS, ::boost::bidirectionalS, ::std::shared_ptr<Frame>, ::std::shared_ptr<Transform>, ::boost::no_property, ::boost::vecS > rl::kin::Kinematics::Tree

protected

Vertex

typedef ::boost::graph_traits<Tree>::vertex_descriptor rl::kin::Kinematics::Vertex

protected

VertexIterator

typedef ::boost::graph_traits<Tree>::vertex_iterator rl::kin::Kinematics::VertexIterator

protected

VertexIteratorPair

typedef ::std::pair<VertexIterator, VertexIterator> rl::kin::Kinematics::VertexIteratorPair

protected

Constructor & Destructor Documentation

Kinematics()

rl::kin::Kinematics::Kinematics

(

)

~Kinematics()

rl::kin::Kinematics::~Kinematics ( )

virtual

Member Function Documentation

areColliding()

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

See if specified bodies should be tested for collisions with each other.

clip()

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

virtual

Clip specified configuration to be within joint limits.

Parameters

[out]

q

\(\vec{q}\)

clone()

Kinematics * rl::kin::Kinematics::clone ( ) const

virtual

Reimplemented in rl::kin::Rhino, and rl::kin::Puma.

create()

Kinematics * rl::kin::Kinematics::create ( const ::std::string &  filename )

static

distance()

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

Calculate distance measure between specified configuration.

Parameters

[in]	q1	\(\vec{q}_{1}\)
[in]	q2	\(\vec{q}_{2}\)

forwardForce()

void rl::kin::Kinematics::forwardForce ( const ::rl::math::Vector &  tau, ::rl::math::Vector &  f  ) const

virtual

Calculate forward force kinematics.

\[ \vec{F} = \matr{J}^{-\mathrm{T}} \vec{\tau} \]

Parameters

[in]	tau	\(\vec{\tau}\)
[out]	f	\(\vec{F}\)

Precondition

updateJacobian()

updateJacobianInverse()

forwardPosition()

const ::rl::math::Transform & rl::kin::Kinematics::forwardPosition ( const ::std::size_t &  i = 0 ) const

virtual

Get forward position kinematics.

Parameters

[in]

i

End effector

Precondition

updateFrames()

forwardVelocity()

void rl::kin::Kinematics::forwardVelocity ( const ::rl::math::Vector &  qdot, ::rl::math::Vector &  xdot  ) const

virtual

Calculate forward velocity kinematics.

\[ \dot{\vec{x}} = \matr{J} \dot{\vec{q}} \]

Parameters

[in]	qdot	\(\dot{\vec{q}}\)
[out]	xdot	\(\dot{\vec{x}}\)

Precondition

updateJacobian()

generatePositionGaussian()

rl::math::Vector rl::kin::Kinematics::generatePositionGaussian	(	const ::rl::math::Vector &	rand,
		const ::rl::math::Vector &	mean,
		const ::rl::math::Vector &	sigma
	)		const

generatePositionUniform()

rl::math::Vector rl::kin::Kinematics::generatePositionUniform

(

const ::rl::math::Vector &

rand

)

const

getBodies()

std::size_t rl::kin::Kinematics::getBodies

(

)

const

Get number of links.

getDof()

std::size_t rl::kin::Kinematics::getDof

(

)

const

Get number of degrees of freedom (DOF).

getFrame()

const ::rl::math::Transform & rl::kin::Kinematics::getFrame

(

const ::std::size_t &

i

)

const

Get link frame.

Precondition

updateFrames()

getJacobian()

const ::rl::math::Matrix & rl::kin::Kinematics::getJacobian

(

)

const

Get Jacobian.

Precondition

updateJacobian()

getJacobianInverse()

const ::rl::math::Matrix & rl::kin::Kinematics::getJacobianInverse

(

)

const

Get Jacobian-Inverse.

Precondition

updateJacobianInverse()

getJoint()

Joint * rl::kin::Kinematics::getJoint

(

const ::std::size_t &

i

)

const

getManipulabilityMeasure()

rl::math::Real rl::kin::Kinematics::getManipulabilityMeasure

(

)

const

Get manipulability measure.

Precondition

updateJacobian()

getManufacturer()

std::string rl::kin::Kinematics::getManufacturer

(

)

const

getMaximum() [1/2]

void rl::kin::Kinematics::getMaximum

(

::rl::math::Vector &

max

)

const

getMaximum() [2/2]

rl::math::Real rl::kin::Kinematics::getMaximum

(

const ::std::size_t &

i

)

const

getMinimum() [1/2]

void rl::kin::Kinematics::getMinimum

(

::rl::math::Vector &

min

)

const

getMinimum() [2/2]

rl::math::Real rl::kin::Kinematics::getMinimum

(

const ::std::size_t &

i

)

const

getName()

std::string rl::kin::Kinematics::getName

(

)

const

getOperationalDof()

std::size_t rl::kin::Kinematics::getOperationalDof

(

)

const

Get number of end effectors.

getPosition()

void rl::kin::Kinematics::getPosition

(

::rl::math::Vector &

q

)

const

Get current joint position.

Parameters

[out]

q

\(\vec{q}\)

getPositionUnits()

void rl::kin::Kinematics::getPositionUnits

(

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &

units

)

const

getSpeed()

void rl::kin::Kinematics::getSpeed

(

::rl::math::Vector &

speed

)

const

getSpeedUnits()

void rl::kin::Kinematics::getSpeedUnits

(

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &

units

)

const

interpolate()

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

virtual

inverseForce()

void rl::kin::Kinematics::inverseForce ( const ::rl::math::Vector &  f, ::rl::math::Vector &  tau  ) const

virtual

Calculate inverse force kinematics.

\[ \vec{\tau} = \matr{J}^{\mathrm{T}} \vec{F} \]

Parameters

[in]	f	\(\vec{F}\)
[out]	tau	\(\vec{\tau}\)

Precondition

updateJacobian()

inverseOfTransformedDistance()

rl::math::Real rl::kin::Kinematics::inverseOfTransformedDistance

(

const ::rl::math::Real &

d

)

const

inversePosition()

bool rl::kin::Kinematics::inversePosition ( const ::rl::math::Transform &  x, ::rl::math::Vector &  q, 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  )

virtual

Calculate inverse position kinematics.

Reimplemented in rl::kin::Rhino, and rl::kin::Puma.

inverseVelocity()

void rl::kin::Kinematics::inverseVelocity ( const ::rl::math::Vector &  xdot, ::rl::math::Vector &  qdot  ) const

virtual

Calculate inverse velocity kinematics.

\[ \dot{\vec{q}} = \matr{J}^{\dagger} \dot{\vec{x}} \]

Parameters

[in]	xdot	\(\dot{\vec{x}}\)
[out]	qdot	\(\dot{\vec{q}}\)

Precondition

updateJacobianInverse()

isColliding()

bool rl::kin::Kinematics::isColliding

(

const ::std::size_t &

i

)

const

See if specified body should be tested for collisions with the environment.

isSingular()

bool rl::kin::Kinematics::isSingular ( ) const

virtual

Check if current configuration is singular.

Reimplemented in rl::kin::Puma.

isValid()

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

virtual

Check if specified configuration is within joint limits.

Parameters

[in]

q

\(\vec{q}\)

maxDistanceToRectangle()

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

minDistanceToRectangle() [1/2]

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

minDistanceToRectangle() [2/2]

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

newDistance()

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

setColliding() [1/2]

void rl::kin::Kinematics::setColliding	(	const ::std::size_t &	i,
		const ::std::size_t &	j,
		const bool &	doCollide
	)

Set if specified bodies should be tested for collisions with each other.

setColliding() [2/2]

void rl::kin::Kinematics::setColliding	(	const ::std::size_t &	i,
		const bool &	doesCollide
	)

Set if specified body should be tested for collisions with the environment.

setPosition()

void rl::kin::Kinematics::setPosition

(

const ::rl::math::Vector &

q

)

Update current joint position.

Parameters

[in]

q

\(\vec{q}\)

step()

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

virtual

tool() [1/2]

rl::math::Transform & rl::kin::Kinematics::tool

(

const ::std::size_t &

i = 0

)

tool() [2/2]

const ::rl::math::Transform & rl::kin::Kinematics::tool

(

const ::std::size_t &

i = 0

)

const

transformedDistance() [1/3]

rl::math::Real rl::kin::Kinematics::transformedDistance

(

const ::rl::math::Real &

d

)

const

transformedDistance() [2/3]

rl::math::Real rl::kin::Kinematics::transformedDistance	(	const ::rl::math::Real &	q1,
		const ::rl::math::Real &	q2,
		const ::std::size_t &	i
	)		const

transformedDistance() [3/3]

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

update() [1/2]

void rl::kin::Kinematics::update ( )

protected

update() [2/2]

void rl::kin::Kinematics::update ( Vertex &  u )

protected

updateFrames()

void rl::kin::Kinematics::updateFrames ( )

virtual

Update frames.

\[ {_{0}^{n}\matr{T}} = {_{0}^{1}\matr{T}} \, {_{0}^{1}\matr{T}} \, \ldots \, {_{n-1}^{n}\matr{T}} \]

Precondition

setPosition()

updateJacobian()

void rl::kin::Kinematics::updateJacobian ( )

virtual

Update Jacobian.

\[ {^{0}\matr{J}} = \begin{pmatrix} {^{0}\matr{J}_{1}} & {^{0}\matr{J}_{2}} & \cdots & {^{0}\matr{J}_{n}} \end{pmatrix} \]

Precondition

updateFrames()

updateJacobianInverse()

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

virtual

Update Jacobian-Inverse.

\[ \matr{J}^{\dagger}(\vec{q}) = \sum_{i = 1}^{r} \frac{ \sigma_{i} }{ \sigma_{i}^{2} + \lambda^{2} } \, \vec{v}_{i} \, \vec{u}_{i}^{\mathrm{T}} \]

\[ \matr{J}^{\dagger}(\vec{q}) = \matr{J}^{\mathrm{T}}(\vec{q}) \, \bigl( \matr{J}(\vec{q}) \, \matr{J}^{\mathrm{T}}(\vec{q}) + \lambda^{2} \, \matr{1} \bigr)^{-1} \]

Parameters

[in]	lambda	Damping factor \(\lambda\)
[in]	doSvd	Use singular value decomposition or damped least squares

Precondition

updateJacobian()

world() [1/2]

rl::math::Transform & rl::kin::Kinematics::world

(

)

world() [2/2]

const ::rl::math::Transform & rl::kin::Kinematics::world

(

)

const

Member Data Documentation

elements

::std::vector<Element*> rl::kin::Kinematics::elements

protected

frames

::std::vector<Frame*> rl::kin::Kinematics::frames

protected

jacobian

::rl::math::Matrix rl::kin::Kinematics::jacobian

protected

jacobianInverse

::rl::math::Matrix rl::kin::Kinematics::jacobianInverse

protected

joints

::std::vector<Joint*> rl::kin::Kinematics::joints

protected

leaves

::std::vector<Vertex> rl::kin::Kinematics::leaves

protected

links

::std::vector<Link*> rl::kin::Kinematics::links

protected

manufacturer

::std::string rl::kin::Kinematics::manufacturer

protected

name

::std::string rl::kin::Kinematics::name

protected

root

Vertex rl::kin::Kinematics::root

protected

tools

::std::vector<Edge> rl::kin::Kinematics::tools

protected

transforms

::std::vector<Transform*> rl::kin::Kinematics::transforms

protected

tree

Tree rl::kin::Kinematics::tree

protected

---

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

• rl/kin/Kinematics.h
• rl/kin/Kinematics.cpp