Drake
KukaTest Class Reference

#include <drake/multibody/dev/test/global_inverse_kinematics_test_util.h>

Inheritance diagram for KukaTest:
Collaboration diagram for KukaTest:

Public Member Functions

 KukaTest ()
 
 ~KukaTest () override
 
void CheckGlobalIKSolution (double pos_tol, double orient_tol) const
 Given the solution computed from global IK, reconstruct the posture, then compute the body pose using forward kinematics with the reconstructed posture. More...
 
Eigen::VectorXd CheckNonlinearIK (const Eigen::Vector3d &ee_pos_lb_W, const Eigen::Vector3d &ee_pos_ub_W, const Eigen::Quaterniond &ee_orient, double angle_tol, const Eigen::Matrix< double, 7, 1 > &q_guess, const Eigen::Matrix< double, 7, 1 > &q_nom, int info_expected) const
 Solve the inverse kinematics problem from the nonlinear solver. More...
 

Protected Attributes

std::unique_ptr< RigidBodyTree< double > > rigid_body_tree_
 
GlobalInverseKinematics global_ik_
 
int ee_idx_
 

Constructor & Destructor Documentation

KukaTest ( )
~KukaTest ( )
inlineoverride

Here is the call graph for this function:

Member Function Documentation

void CheckGlobalIKSolution ( double  pos_tol,
double  orient_tol 
) const

Given the solution computed from global IK, reconstruct the posture, then compute the body pose using forward kinematics with the reconstructed posture.

Compare that forward kinematics body pose, with the body pose in the global IK.

Here is the call graph for this function:

Here is the caller graph for this function:

Eigen::VectorXd CheckNonlinearIK ( const Eigen::Vector3d &  ee_pos_lb_W,
const Eigen::Vector3d &  ee_pos_ub_W,
const Eigen::Quaterniond &  ee_orient,
double  angle_tol,
const Eigen::Matrix< double, 7, 1 > &  q_guess,
const Eigen::Matrix< double, 7, 1 > &  q_nom,
int  info_expected 
) const

Solve the inverse kinematics problem from the nonlinear solver.

Parameters
ee_pos_lb_WLower bound of the end effector position.
ee_pos_ub_WUpper bound of the end effector position.
ee_orientDesired end effector orientation.
angle_tolTolerance on end effector orientation error.
q_guessInitial guess for nonlinear IK solution.
q_nomDesired posture.
info_expectedExpected return status from nonlinear IK
Returns
The nonlinear IK solution.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

int ee_idx_
protected
GlobalInverseKinematics global_ik_
protected
std::unique_ptr<RigidBodyTree<double> > rigid_body_tree_
protected

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