#include <VrepVFController.hpp>

Inheritance diagram for grl::VrepInverseKinematicsController:

Collaboration diagram for grl::VrepInverseKinematicsController:

Public Types
typedef std::tuple< std::string,std::string >	Params

typedef grl::InverseKinematicsController	parent_type

enum	VrepVFControllerParamsIndex { DesiredKinematicsObjectName, IKGroupName }

Public Types inherited from grl::InverseKinematicsController
enum	GrlVFControllerParamsIndex { currentKinematicsName, desiredKinematicsName, followVFName, followVFNumRows, jointVelocityLimitsVFName, JointVelocityLimitsVFNumRows, JointPositionVFName, JointPositionNumRows }

typedef std::tuple< std::string,std::string,std::string,std::size_t,std::string,std::size_t,std::string,std::size_t >	Params

typedef mtsVFController	parent_type

Public Member Functions
void	construct (Params params=defaultParams())

void	run_one ()

void	solve ()

void	updateKinematics ()
	check out sawConstraintController More...

	VrepInverseKinematicsController (size_t num_joints=7, mtsVFBase::CONTROLLERMODE cm=mtsVFBase::CONTROLLERMODE::JPOS)

Public Member Functions inherited from grl::InverseKinematicsController
void	construct ()

Params	defaultParams ()

	InverseKinematicsController (size_t num_joints, mtsVFBase::CONTROLLERMODE cm)

	InverseKinematicsController ()

Static Public Member Functions
static Params	defaultParams ()

Public Attributes
vrep::VrepRobotArmDriver::State	currentArmState_

int	ikGroupHandle_

std::vector< int >	jointHandles_

std::string	positionLimitsName

std::string	velocityLimitsName

std::shared_ptr< vrep::VrepRobotArmDriver >	VrepRobotArmDriverP_

Public Attributes inherited from grl::InverseKinematicsController
std::unique_ptr< prmKinematicsState >	currentKinematicsStateP_
	This will hold the Jacobian. More...

std::unique_ptr< prmKinematicsState >	desiredKinematicsStateP_
	This will hold the xyz position and the rotation of where I want to go. More...

std::unique_ptr< mtsVFDataBase >	followVFP_

std::unique_ptr< mtsVFDataJointLimits >	jointPositionLimitsVFP_
	joints cannot go to certain position More...

std::unique_ptr< mtsVFDataJointLimits >	jointVelocityLimitsVFP_
	need velocity limits for the joints More...

Additional Inherited Members
Static Public Attributes inherited from grl::InverseKinematicsController
static const std::size_t	totalRows = 7

Detailed Description

Todo:: verify Robotiiwa is the correct base, and RobotMillTipTarget is the right target, because if the transform doesn't match the one in the jacobian the algorithm will break

Definition at line 31 of file VrepVFController.hpp.

Member Typedef Documentation

§ Params

typedef std::tuple< std::string ,std::string > grl::VrepInverseKinematicsController::Params

Definition at line 47 of file VrepVFController.hpp.

§ parent_type

typedef grl::InverseKinematicsController grl::VrepInverseKinematicsController::parent_type

Definition at line 34 of file VrepVFController.hpp.

Member Enumeration Documentation

§ VrepVFControllerParamsIndex

enum grl::VrepInverseKinematicsController::VrepVFControllerParamsIndex

Enumerator
DesiredKinematicsObjectName
IKGroupName

Definition at line 39 of file VrepVFController.hpp.

Constructor & Destructor Documentation

§ VrepInverseKinematicsController()

grl::VrepInverseKinematicsController::VrepInverseKinematicsController	(	size_t	num_joints = `7`,
		mtsVFBase::CONTROLLERMODE	cm = `mtsVFBase::CONTROLLERMODE::JPOS`
	)

inline

Todo:: need to call parent constructor:

Constructor

Definition at line 57 of file VrepVFController.hpp.

Member Function Documentation

§ construct()

void grl::VrepInverseKinematicsController::construct ( Params params = defaultParams() )

inline

Todo:: set desiredKinematicsStateP name, INITIALIZE ALL MEMBER OBJECTS, & SET NAMES

Todo:: verify object lifetimes

Todo:: read objective rows from vrep

Todo:: objectiveRows seems to currently be a 3 vector, may eventually want a rotation and translation, perhaps with quaternion rotation

Todo:: set vrep explicit handling of IK here, plus unset in destructor of this object

Definition at line 62 of file VrepVFController.hpp.

§ defaultParams()

static Params grl::VrepInverseKinematicsController::defaultParams ( )

inlinestatic

Definition at line 49 of file VrepVFController.hpp.

§ run_one()

void grl::VrepInverseKinematicsController::run_one ( )

inline

may not need this it is in the base class blocking call, call in separate thread, just allocates memory

Definition at line 292 of file VrepVFController.hpp.

§ solve()

void grl::VrepInverseKinematicsController::solve ( )

inline

may not need this it is in the base class this will have output blocking call, call in separate thread, just allocates memory this runs the actual optimization algorithm

Definition at line 302 of file VrepVFController.hpp.

§ updateKinematics()

void grl::VrepInverseKinematicsController::updateKinematics ( )

inline

check out sawConstraintController

The row/column major order is swapped between cisst and VREP!

Todo:: does this leak memory when called every time around?

Todo:: set rotation component of current position

Todo:: set rotation component of desired position

Todo:: move code below here back under run_one updateKinematics() call

Todo:: need to provide tick time in double seconds and get from vrep API call

Todo:: check the return code, if it doesn't have a result, use the VREP version as a fallback and report an error.

Todo:: : rethink where/when/how to send command for the joint angles. Return to LUA? Set Directly? Distribute via vrep send message command?

Definition at line 140 of file VrepVFController.hpp.

Member Data Documentation

§ currentArmState_

vrep::VrepRobotArmDriver::State grl::VrepInverseKinematicsController::currentArmState_

Definition at line 309 of file VrepVFController.hpp.

§ ikGroupHandle_

int grl::VrepInverseKinematicsController::ikGroupHandle_

Definition at line 307 of file VrepVFController.hpp.

§ jointHandles_

std::vector<int> grl::VrepInverseKinematicsController::jointHandles_

Todo:: move this item back into VrepRobotArmDriver

Definition at line 306 of file VrepVFController.hpp.

§ positionLimitsName

std::string grl::VrepInverseKinematicsController::positionLimitsName

Definition at line 310 of file VrepVFController.hpp.

§ velocityLimitsName

std::string grl::VrepInverseKinematicsController::velocityLimitsName

Definition at line 311 of file VrepVFController.hpp.

§ VrepRobotArmDriverP_

std::shared_ptr<vrep::VrepRobotArmDriver> grl::VrepInverseKinematicsController::VrepRobotArmDriverP_

Definition at line 308 of file VrepVFController.hpp.

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

VrepVFController.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

§ Params

§ parent_type

Member Enumeration Documentation

§ VrepVFControllerParamsIndex

Constructor & Destructor Documentation

§ VrepInverseKinematicsController()

Member Function Documentation

§ construct()

§ defaultParams()

§ run_one()

§ solve()

§ updateKinematics()

Member Data Documentation

§ currentArmState_

§ ikGroupHandle_

§ jointHandles_

§ positionLimitsName

§ velocityLimitsName

§ VrepRobotArmDriverP_