rl::mdl::Kinematic Class Reference

#include <Kinematic.h>

Inheritance diagram for rl::mdl::Kinematic:

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 (const bool &inWorldFrame=true)
	Calculate Jacobian matrix. More...
void	calculateJacobian (::rl::math::Matrix &J, const bool &inWorldFrame=true)
	Calculate Jacobian matrix. More...
void	calculateJacobianDerivative (const bool &inWorldFrame=true)
	Calculate Jacobian derivative vector. More...
void	calculateJacobianDerivative (::rl::math::Vector &Jdqd, const bool &inWorldFrame=true)
	Calculate Jacobian derivative vector. More...
void	calculateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
	Calculate Jacobian matrix inverse. More...
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
	Calculate manipulability measure. More...
void	forwardAcceleration ()
void	forwardPosition ()
void	forwardVelocity ()
const ::rl::math::Matrix &	getJacobian () const
	Access calculated Jacobian matrix. More...
const ::rl::math::Vector &	getJacobianDerivative () const
	Access calculated Jacobian derivative vector. More...
const ::rl::math::Matrix &	getJacobianInverse () const
	Access calculated Jacobian matrix inverse. More...
bool	isSingular () const
	Check if current configuration is singular. More...
bool	isSingular (const ::rl::math::Matrix &J) const
	Check if current configuration is singular. More...
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	normalize (::rl::math::Vector &q) 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
::rl::math::Real	transformedDistance (const ::rl::math::Real &q1, const ::rl::math::Real &q2, const ::std::size_t &i) 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
::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
::rl::math::Vector	getAcceleration () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getAccelerationUnits () 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
const ::rl::math::Matrix &	getGammaPosition () const
const ::rl::math::Matrix &	getGammaVelocity () const
const ::rl::math::Matrix &	getGammaPositionInverse () const
const ::rl::math::Matrix &	getGammaVelocityInverse () const
::rl::math::Vector	getHomePosition () 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
::rl::math::Vector	getMaximum () const
::rl::math::Vector	getMinimum () const
const ::std::string &	getName () const
::rl::math::Vector	getPosition () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getPositionUnits () const
::rl::math::Vector	getTorque () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getTorqueUnits () const
::rl::math::Vector	getSpeed () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getSpeedUnits () const
::rl::math::Vector	getVelocity () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getVelocityUnits () 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	setGammaPosition (const ::rl::math::Matrix &gammaPosition)
void	setGammaVelocity (const ::rl::math::Matrix &gammaVelocity)
void	setHomePosition (const ::rl::math::Vector &home)
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
	Jacobian matrix inverse. More...
::rl::math::Matrix	J
	Jacobian matrix. More...
::rl::math::Vector	Jdqd
	Jacobian derivative vector. More...
Protected Attributes inherited from rl::mdl::Model
::std::vector< Body * >	bodies
::std::vector< Element * >	elements
::std::vector< Frame * >	frames
::rl::math::Matrix	gammaPosition
::rl::math::Matrix	gammaVelocity
::rl::math::Vector	home
::rl::math::Matrix	invGammaPosition
::rl::math::Matrix	invGammaVelocity
::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 *, ::std::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound *, ::std::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()

See also

calculateJacobian()

calculateJacobianInverse()

calculateJacobian() [1/2]

void rl::mdl::Kinematic::calculateJacobian	(	::rl::math::Matrix &	J,
		const bool &	inWorldFrame = true
	)

Calculate Jacobian matrix.

Parameters

[out]	J	Jacobian matrix \(\matr{J}(\vec{q})\)
[in]	inWorldFrame	Calculate in world or tool frame

Precondition

setPosition()

See also

forwardVelocity()

calculateJacobian() [2/2]

void rl::mdl::Kinematic::calculateJacobian

(

const bool &

inWorldFrame = true

)

Calculate Jacobian matrix.

Parameters

[in]

inWorldFrame

Calculate in world or tool frame

Precondition

setPosition()

Postcondition

getJacobian()

See also

forwardVelocity()

calculateJacobianDerivative() [1/2]

void rl::mdl::Kinematic::calculateJacobianDerivative	(	::rl::math::Vector &	Jdqd,
		const bool &	inWorldFrame = true
	)

Calculate Jacobian derivative vector.

Parameters

[out]	Jdqd	Jacobian derivative vector \(\dot{\matr{J}}(\vec{q}, \dot{\vec{q}}) \, \dot{\vec{q}}\)
[in]	inWorldFrame	Calculate in world or tool frame

Precondition

setPosition()

setVelocity()

See also

forwardVelocity()

forwardAcceleration()

calculateJacobianDerivative() [2/2]

void rl::mdl::Kinematic::calculateJacobianDerivative

(

const bool &

inWorldFrame = true

)

Calculate Jacobian derivative vector.

Parameters

[in]

inWorldFrame

Calculate in world or tool frame

Precondition

setPosition()

setVelocity()

Postcondition

getJacobianDerivative()

See also

forwardVelocity

forwardAcceleration

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.

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

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

Parameters

[in]	J	Jacobian matrix \(\matr{J}\)
[in]	invJ	Jacobian matrix inverse \(\matr{J}^{\dagger}\)
[in]	lambda	Damping factor \(\lambda\)
[in]	doSvd	Use singular value decomposition or damped least squares

Precondition

setPosition()

calculateJacobian()

calculateJacobianInverse() [2/2]

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

Calculate Jacobian matrix 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

setPosition()

calculateJacobian()

Postcondition

getJacobianInverse()

calculateManipulabilityMeasure() [1/2]

rl::math::Real rl::mdl::Kinematic::calculateManipulabilityMeasure

(

)

const

Calculate manipulability measure.

\[ \mu(\vec{q}) = \sqrt{\det \bigl( \matr{J}(\vec{q}) \, \matr{J}^{\mathrm{T}}(\vec{q}) \bigr)} \]

Returns

Manipulability measure \(\mu(\vec{q})\)

Precondition

setPosition()

calculateJacobian()

calculateManipulabilityMeasure() [2/2]

rl::math::Real rl::mdl::Kinematic::calculateManipulabilityMeasure

(

const ::rl::math::Matrix &

J

)

const

Calculate manipulability measure.

\[ \mu(\vec{q}) = \sqrt{\det \bigl( \matr{J}(\vec{q}) \, \matr{J}^{\mathrm{T}}(\vec{q}) \bigr)} \]

Parameters

[in]

J

Jacobian matrix \(\matr{J}(\vec{q})\)

Returns

Manipulability measure \(\mu(\vec{q})\)

clone()

Model * rl::mdl::Kinematic::clone

(

)

const

forwardAcceleration()

void rl::mdl::Kinematic::forwardAcceleration

(

)

Precondition

setPosition()

setVelocity()

setAcceleration()

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

Access calculated Jacobian matrix.

Returns

Jacobian matrix \(\matr{J}(\vec{q})\)

Precondition

setPosition()

calculateJacobian()

getJacobianDerivative()

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

(

)

const

Access calculated Jacobian derivative vector.

Returns

Jacobian derivative vector \(\dot{\matr{J}}(\vec{q}, \dot{\vec{q}}) \, \dot{\vec{q}}\)

Precondition

setPosition()

setVelocity()

calculateJacobianDerivative()

getJacobianInverse()

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

(

)

const

Access calculated Jacobian matrix inverse.

Returns

Jacobian matrix inverse \(\matr{J}^{\dagger}(\vec{q})\)

Precondition

setPosition()

calculateJacobian()

calculateJacobianInverse()

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

Check if current configuration is singular.

Parameters

[in]

J

Jacobian matrix \(\matr{J}(\vec{q})\)

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

Jacobian matrix inverse.

\[ \matr{J}^{\dagger}(\vec{q}) \]

Precondition

calculateJacobianInverse()

See also

getJacobianInverse()

J

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

protected

Jacobian matrix.

\[ \matr{J}(\vec{q}) \]

Precondition

calculateJacobian()

See also

getJacobian()

Jdqd

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

protected

Jacobian derivative vector.

\[ \dot{\matr{J}}(\vec{q}, \dot{\vec{q}}) \, \dot{\vec{q}} \]

Precondition

calculateJacobianDerivative()

See also

getJacobianDerivative()

---

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

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