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IKoptions Class Reference
Collaboration diagram for IKoptions:

Public Member Functions

function IKoptions (robot)
 
function setQ (obj, Q)
 
function setQa (obj, Qa)
 
function setQv (obj, Qv)
 
function setMex (obj, flag)
 
function setDebug (obj, flag)
 
function setSequentialSeedFlag (obj, flag)
 
function setMajorOptimalityTolerance (obj, tol)
 
function setMajorFeasibilityTolerance (obj, tol)
 
function setSuperbasicsLimit (obj, limit)
 
function setMajorIterationsLimit (obj, limit)
 
function setIterationsLimit (obj, limit)
 
function setFixInitialState (obj, flag)
 
function setq0 (obj, lb, ub)
 
function setqd0 (obj, lb, ub)
 
function setqdf (obj, lb, ub)
 
function setAdditionaltSamples (obj, t_samples)
 
function updateRobot (obj, robot)
 

Protected Member Functions

function setDefaultParams (obj, robot)
 

Protected Attributes

Property robot
 
Property nq
 
Property Q
 
Property Qa
 
Property Qv
 
Property use_mex
 
Property debug_mode
 
Property sequentialSeedFlag
 
Property SNOPT_MajorFeasibilityTolerance
 
Property SNOPT_MajorIterationsLimit
 
Property SNOPT_IterationsLimit
 
Property SNOPT_SuperbasicsLimit
 
Property SNOPT_MajorOptimalityTolerance
 
Property additional_tSamples
 
Property fixInitialState
 
Property q0_lb
 
Property q0_ub
 
Property qd0_lb
 
Property qd0_ub
 
Property qdf_ub
 
Property qdf_lb
 
Property mex_ptr
 

Detailed Description

Parameters
Q–the cost matrix for posture deviation
use_mex,–A boolean flat,set to true if run with mex. default is false
debug_mode– IK would query the name of each constraint

The following fields is used in inverseKinPointwise

Parameters
sequentialSeedFlag– A boolean variable, set to false if the seed of inverseKinPointwise is q_seed. If set to true, inverseKinPointwise would use the solution in the previous time point as seed (if it is feasible).

All subsequent fields will be used in inverseKinTraj only

Parameters
Qa– The cost matrix for acceleration
Qv– The cost matrix for velocity
additional_tSamples– Additional time samples (apart from knot points) in inverseKinTraj to check constraints
fixInitialState– A boolean flag, set to true if the posture q and velocity qd at time t(1) is fixed. q(1) = q_seed_traj.eval(t(1)) qdot(1) = (ikpotions.qd0_lb+ikoptions.qd0_ub)/2
q0_lb– The initial posture upperbound. Would be used when fixInitialState = false;
q0_ub– The initial posture lowerbound, Would be used when fixInitialState = false;
qd0_ub– The upperbound of the initial velocity
qd0_lb– The lowerbound of the initial velocity
qdf_ub– The upper bound of the final velocity
qdf_lb– The lower bound of the final velocity

Constructor & Destructor Documentation

function IKoptions ( robot  )
Return values
obj

Member Function Documentation

function setAdditionaltSamples ( obj  ,
t_samples   
)
Return values
obj
function setDebug ( obj  ,
flag   
)
Return values
obj
function setDefaultParams ( obj  ,
robot   
)
protected
Return values
obj
function setFixInitialState ( obj  ,
flag   
)
Return values
obj
function setIterationsLimit ( obj  ,
limit   
)
Return values
obj
function setMajorFeasibilityTolerance ( obj  ,
tol   
)
Return values
obj
function setMajorIterationsLimit ( obj  ,
limit   
)
Return values
obj
function setMajorOptimalityTolerance ( obj  ,
tol   
)
Return values
obj
function setMex ( obj  ,
flag   
)
Return values
obj
function setQ ( obj  ,
Q   
)
Return values
obj
function setq0 ( obj  ,
lb  ,
ub   
)
Return values
obj
function setQa ( obj  ,
Qa   
)
Return values
obj
function setqd0 ( obj  ,
lb  ,
ub   
)
Return values
obj
function setqdf ( obj  ,
lb  ,
ub   
)
Return values
obj
function setQv ( obj  ,
Qv   
)
Return values
obj
function setSequentialSeedFlag ( obj  ,
flag   
)
Return values
obj
function setSuperbasicsLimit ( obj  ,
limit   
)
Return values
obj
function updateRobot ( obj  ,
robot   
)
Return values
obj

Member Data Documentation

Property additional_tSamples
protected
Property debug_mode
protected
Property fixInitialState
protected
Property mex_ptr
protected
Property nq
protected
Property Q
protected
Property q0_lb
protected
Property q0_ub
protected
Property Qa
protected
Property qd0_lb
protected
Property qd0_ub
protected
Property qdf_lb
protected
Property qdf_ub
protected
Property Qv
protected
Property robot
protected
Property sequentialSeedFlag
protected
Property SNOPT_IterationsLimit
protected
Property SNOPT_MajorFeasibilityTolerance
protected
Property SNOPT_MajorIterationsLimit
protected
Property SNOPT_MajorOptimalityTolerance
protected
Property SNOPT_SuperbasicsLimit
protected
Property use_mex
protected

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