ConstraintRelaxingIk Class Reference

Detailed Description

A wrapper class around the IK planner.

This class improves IK's usability by handling constraint relaxing and multiple initial guesses internally.

#include <drake/multibody/inverse_kinematics/constraint_relaxing_ik.h>

Classes
struct	IkCartesianWaypoint
	Cartesian waypoint. More...

Public Member Functions
	ConstraintRelaxingIk (const std::string &model_path, const std::string &end_effector_link_name)
	Constructor. More...
void	SetEndEffector (const std::string &link_name)
	Sets end effector to link_name. More...
bool	PlanSequentialTrajectory (const std::vector< IkCartesianWaypoint > &waypoints, const VectorX< double > &q_current, std::vector< Eigen::VectorXd > *q_sol, const std::function< bool(int)> &keep_going={})
	Generates IK solutions for each waypoint sequentially. More...
Does not allow copy, move, or assignment
	ConstraintRelaxingIk (const ConstraintRelaxingIk &)=delete
ConstraintRelaxingIk &	operator= (const ConstraintRelaxingIk &)=delete
	ConstraintRelaxingIk (ConstraintRelaxingIk &&)=delete
ConstraintRelaxingIk &	operator= (ConstraintRelaxingIk &&)=delete

Constructor & Destructor Documentation

ConstraintRelaxingIk() [1/3]

ConstraintRelaxingIk ( const ConstraintRelaxingIk &  )

delete

ConstraintRelaxingIk() [2/3]

ConstraintRelaxingIk ( ConstraintRelaxingIk &&  )

delete

ConstraintRelaxingIk() [3/3]

ConstraintRelaxingIk	(	const std::string &	model_path,
		const std::string &	end_effector_link_name
	)

Constructor.

Instantiates an internal MultibodyPlant from model_path.

Parameters

model_path	Path to the model file.
end_effector_link_name	Link name of the end effector.

Member Function Documentation

operator=() [1/2]

ConstraintRelaxingIk& operator= ( const ConstraintRelaxingIk &  )

delete

operator=() [2/2]

ConstraintRelaxingIk& operator= ( ConstraintRelaxingIk &&  )

delete

PlanSequentialTrajectory()

bool PlanSequentialTrajectory	(	const std::vector< IkCartesianWaypoint > &	waypoints,
		const VectorX< double > &	q_current,
		std::vector< Eigen::VectorXd > *	q_sol,
		const std::function< bool(int)> &	keep_going = {}
	)

Generates IK solutions for each waypoint sequentially.

For waypoint wp_i, the IK tries to solve q_i that satisfies the end effector constraints in wp_i and minimizes the squared difference to q_{i-1}, where q_{i-1} is the solution to the previous wp_{i-1}. q_{i-1} = q_current when i = 0. This function internally does constraint relaxing and initial condition guessing if necessary.

Note that q_current is inserted at the beginning of q_sol.

Parameters

	waypoints	A sequence of desired waypoints.
	q_current	The initial generalized position.
[out]	q_sol	Results.
	keep_going	Optional callback to allow for cancellation. When given, this function will be called prior to every IK solve; if it returns false, the PlanSequentialTrajectory will stop and return false. The function is passed the index of the waypoint currently being solved. This can be used to enable timeouts for difficult plans.

Returns

True if solved successfully.

SetEndEffector()

void SetEndEffector

(

const std::string &

link_name

)

Sets end effector to link_name.

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

• drake/multibody/inverse_kinematics/constraint_relaxing_ik.h