GradientDescentIk.hpp

Go to the documentation of this file.

#ifndef AIKIDO_ROBOT_IK_GRADIENTDESCENTIK_HPP_
#define AIKIDO_ROBOT_IK_GRADIENTDESCENTIK_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
#include <dart/dart.hpp>
 
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/robot/InverseKinematics.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace robot {
 
// configurations.
class GradientDescentIk : public InverseKinematics
{
public:
  GradientDescentIk(
      ::dart::dynamics::MetaSkeletonPtr arm,
      ::dart::dynamics::BodyNodePtr endEffector,
      statespace::dart::ConstMetaSkeletonStateSpacePtr armSpace,
      common::RNG* rng);
 
  // Documentation inherited.
  std::vector<Eigen::VectorXd> getSolutions(
      const Eigen::Isometry3d& targetPose,
      const size_t maxSolutions) const override;
 
private:
  ::dart::dynamics::MetaSkeletonPtr mArm;
  ::dart::dynamics::BodyNodePtr mEndEffector;
  statespace::dart::ConstMetaSkeletonStateSpacePtr mArmSpace;
 
  std::shared_ptr<aikido::constraint::Sampleable> mSeedConfigSampleable;
  ::dart::dynamics::InverseKinematicsPtr mDartIkSolver;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_IK_GRADIENTDESCENTIK_HPP_