Vector field for moving end-effector to a goal pose in SE(3). More...

#include <aikido/planner/vectorfield/MoveEndEffectorPoseVectorField.hpp>

Inheritance diagram for aikido::planner::vectorfield::MoveEndEffectorPoseVectorField:

Public Member Functions
	MoveEndEffectorPoseVectorField (aikido::statespace::dart::MetaSkeletonStateSpacePtr stateSpace, dart::dynamics::MetaSkeletonPtr metaskeleton, dart::dynamics::BodyNodePtr bn, const Eigen::Isometry3d &goalPose, double poseErrorTolerance, double r, double maxStepSize, double jointLimitPadding)
	Constructor. More...

bool	evaluateCartesianVelocity (const Eigen::Isometry3d &pose, Eigen::Vector6d &cartesianVelocity) const override
	Evaluate Cartesian velocity by current pose of body node. More...

VectorFieldPlannerStatus	evaluateCartesianStatus (const Eigen::Isometry3d &pose) const override
	Evaluate current pose to determine the status of planning. More...

Public Member Functions inherited from aikido::planner::vectorfield::BodyNodePoseVectorField
	BodyNodePoseVectorField (aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, ::dart::dynamics::ConstBodyNodePtr bodyNode, double maxStepSize, double jointLimitPadding, bool enforceJointVelocityLimits=false)
	Constructor. More...

bool	evaluateVelocity (const aikido::statespace::StateSpace::State *state, Eigen::VectorXd &qd) const override
	Vectorfield callback function. More...

VectorFieldPlannerStatus	evaluateStatus (const aikido::statespace::StateSpace::State *state) const override
	Vectorfield planning status callback function. More...

bool	evaluateTrajectory (const aikido::trajectory::Trajectory &trajectory, const aikido::constraint::Testable *constraint, double evalStepSize, double &evalTimePivot, bool includeEndTime) const override
	Evaludate whether a trajectory satisfies a constraint. More...

aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getMetaSkeletonStateSpace () const
	Return const meta skeleton state space. More...

::dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()
	Returns meta skeleton. More...

::dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const
	Returns const meta skeleton. More...

::dart::dynamics::ConstBodyNodePtr	getBodyNode () const
	Returns const body node of end-effector. More...

Public Member Functions inherited from aikido::planner::vectorfield::VectorField
	VectorField (aikido::statespace::ConstStateSpacePtr stateSpace)
	Constructor. More...

virtual	~VectorField ()=default
	Destructor. More...

aikido::statespace::ConstStateSpacePtr	getStateSpace ()
	Returns state space. More...

aikido::statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...

Protected Attributes
Eigen::Isometry3d	mGoalPose
	Goal pose. More...

double	mPoseErrorTolerance
	Tolerance of pose error. More...

double	mConversionRatioFromRadiusToMeter
	Conversion ratio from radius to meter. More...

Protected Attributes inherited from aikido::planner::vectorfield::BodyNodePoseVectorField
aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	Meta skeleton state space. More...

::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	Meta Skeleton. More...

::dart::dynamics::ConstBodyNodePtr	mBodyNode
	BodyNode. More...

double	mMaxStepSize
	Maximum step size of integrator. More...

double	mJointLimitPadding
	Padding of joint limits. More...

Eigen::VectorXd	mVelocityLowerLimits
	Joint velocities lower limits. More...

Eigen::VectorXd	mVelocityUpperLimits
	Joint velocities upper limits. More...

bool	mEnforceJointVelocityLimits
	Enfoce joint velocity limits. More...

Protected Attributes inherited from aikido::planner::vectorfield::VectorField
aikido::statespace::ConstStateSpacePtr	mStateSpace
	State space. More...

Detailed Description

Vector field for moving end-effector to a goal pose in SE(3).

It defines a vector field in meta-skeleton state space that moves an end-effector a desired pose in SE(3) by following a geodesic loss function in SE(3) via an optimized Jacobian. The geodesic loss function is defined as the geodesic (shortest path) from the current pose to the goal pose.

This class defines two callback functions for vectorfield planner. One for generating joint velocity in MetaSkeleton state space, and one for determining vectorfield planner status.

Constructor & Destructor Documentation

◆ MoveEndEffectorPoseVectorField()

aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::MoveEndEffectorPoseVectorField	(	aikido::statespace::dart::MetaSkeletonStateSpacePtr	stateSpace,
		dart::dynamics::MetaSkeletonPtr	metaskeleton,
		dart::dynamics::BodyNodePtr	bn,
		const Eigen::Isometry3d &	goalPose,
		double	poseErrorTolerance,
		double	r,
		double	maxStepSize,
		double	jointLimitPadding
	)

Constructor.

Parameters

[in]	stateSpace	MetaSkeleton state space.
[in]	metaskeleton	MetaSkeleton to plan with
[in]	bn	Body node of end-effector.
[in]	goalPose	Desired end-effector pose.
[in]	poseErrorTolerance	Constraint error tolerance in meters.
[in]	r	Conversion of radius to meters in computing Geodesic distance.
[in]	maxStepSize	The maximum step size used to guarantee that the integrator does not step out of joint limits.
[in]	jointLimitPadding	If less then this distance to joint limit, velocity is bounded in that direction to 0.

Member Function Documentation

◆ evaluateCartesianStatus()

VectorFieldPlannerStatus aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::evaluateCartesianStatus ( const Eigen::Isometry3d & pose ) const

overridevirtual

Evaluate current pose to determine the status of planning.

Parameters

[in] pose Current pose of body node.

Returns: Status of planner.

Implements aikido::planner::vectorfield::BodyNodePoseVectorField.

◆ evaluateCartesianVelocity()

bool aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::evaluateCartesianVelocity	(	const Eigen::Isometry3d &	pose,
		Eigen::Vector6d &	cartesianVelocity
	)		const

overridevirtual

Evaluate Cartesian velocity by current pose of body node.

Parameters

[in]	pose	Current pose of body node.
[out]	cartesianVelocity	Cartesian velocity defined in se(3).

Implements aikido::planner::vectorfield::BodyNodePoseVectorField.

Member Data Documentation

◆ mConversionRatioFromRadiusToMeter

double aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::mConversionRatioFromRadiusToMeter

protected

Conversion ratio from radius to meter.

◆ mGoalPose

Eigen::Isometry3d aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::mGoalPose

protected

Goal pose.

◆ mPoseErrorTolerance

double aikido::planner::vectorfield::MoveEndEffectorPoseVectorField::mPoseErrorTolerance

protected

Tolerance of pose error.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MoveEndEffectorPoseVectorField()

Member Function Documentation

◆ evaluateCartesianStatus()

◆ evaluateCartesianVelocity()

Member Data Documentation

◆ mConversionRatioFromRadiusToMeter

◆ mGoalPose

◆ mPoseErrorTolerance