aikido::robot::GradientDescentIk Class Reference

Optimization-based IK solver that uses gradient descent from random seed. More...

#include <aikido/robot/GradientDescentIk.hpp>

Inheritance diagram for aikido::robot::GradientDescentIk:

Public Member Functions
	GradientDescentIk (::dart::dynamics::MetaSkeletonPtr arm, ::dart::dynamics::BodyNodePtr endEffector, statespace::dart::ConstMetaSkeletonStateSpacePtr armSpace, common::RNG *rng)
std::vector< Eigen::VectorXd >	getSolutions (const Eigen::Isometry3d &targetPose, const size_t maxSolutions) const override
	Returns a set of IK solutions for the given pose. More...

Private Attributes
::dart::dynamics::MetaSkeletonPtr	mArm
::dart::dynamics::BodyNodePtr	mEndEffector
statespace::dart::ConstMetaSkeletonStateSpacePtr	mArmSpace
std::shared_ptr< aikido::constraint::Sampleable >	mSeedConfigSampleable
::dart::dynamics::InverseKinematicsPtr	mDartIkSolver

Detailed Description

Optimization-based IK solver that uses gradient descent from random seed.

Constructor & Destructor Documentation

GradientDescentIk()

aikido::robot::GradientDescentIk::GradientDescentIk	(	::dart::dynamics::MetaSkeletonPtr	arm,
		::dart::dynamics::BodyNodePtr	endEffector,
		statespace::dart::ConstMetaSkeletonStateSpacePtr	armSpace,
		common::RNG *	rng
	)

Member Function Documentation

getSolutions()

std::vector<Eigen::VectorXd> aikido::robot::GradientDescentIk::getSolutions ( const Eigen::Isometry3d &  targetPose, const size_t  maxSolutions  ) const

overridevirtual

Returns a set of IK solutions for the given pose.

Note that at most maxSolutions solutions are returned, but fewer may be (and possibly none if solving fails).

Parameters

targetPose	End-effector pose to solve inverse kinematics for.
maxSolutions	Upper limit on how many solutions to find and return.

Returns

solution configurations that reach the target pose.

Implements aikido::robot::InverseKinematics.

Member Data Documentation

mArm

::dart::dynamics::MetaSkeletonPtr aikido::robot::GradientDescentIk::mArm

private

mArmSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::GradientDescentIk::mArmSpace

private

mDartIkSolver

::dart::dynamics::InverseKinematicsPtr aikido::robot::GradientDescentIk::mDartIkSolver

private

mEndEffector

::dart::dynamics::BodyNodePtr aikido::robot::GradientDescentIk::mEndEffector

private

mSeedConfigSampleable

std::shared_ptr<aikido::constraint::Sampleable> aikido::robot::GradientDescentIk::mSeedConfigSampleable

private