Drake
InverseKinematics Class Reference

solve the inverse kinematics problem min_q 0.5*(q-qnom)'Q(q-qnom)+cost1(q)+cost2(q)+ % s.t lb<= kc(q) <=ub q_lb<= q <=q_ub where cost1, cost2 are functions defined by user More...

Inheritance diagram for InverseKinematics:
Collaboration diagram for InverseKinematics:

## Public Member Functions

function InverseKinematics (robot, q_nom, varargin)
InverseKinematics(robot,q_nom,RigidBodyConstraint1,RigidBodyConstraint2,) %. More...

function kinematicsData (obj, q)

function setQ (obj, Q)
set the Q matrix in the cost function 0.5(q-q_nom)'Q(q-q_nom) More...

function setQnom (obj, q_nom)

function solve (obj, q_seed)

Public Member Functions inherited from NonlinearProgram
function NonlinearProgram (num_vars, x_name)

function addCompositeConstraints (obj, cnstr, xind, data_ind)
add a CompositeConstraint to the object, change the constraint evalation of the program. More...

function addConstraint (obj, cnstr, varargin)
obj = addConstraint(obj,cnstr,varargin) Queries the constraint type and calls the appropriate addConstraint method (e.g. More...

function addNonlinearConstraint (obj, cnstr, xind, data_ind)
add a NonlinearConstraint to the object, change the constraint evalation of the program. More...

function addLinearConstraint (obj, cnstr, xind)
add a LinearConstraint to the program More...

function addBoundingBoxConstraint (obj, cnstr, xind)
add a BoundingBoxConstraint to the program More...

function addCost (obj, cnstr, xind, data_ind)
Add a cost to the objective function. More...

helper function for the very common case of adding the objective g(x) = (x-xd)'Q(x-xd), Q = Q' >= 0 More...

function getArgumentArray (obj, x, xind)
Retrieves the elements from the vector x related to xind and returns them as a cell array where: args{i} = x(xind{i}) More...

function nonlinearConstraints (obj, x)
evaluate the nonlinear constraints More...

function objective (obj, x)
return the value of the objective More...

function objectiveAndNonlinearConstraints (obj, x)
evaluate the objective and the nonlinear constraints altogher More...

function addDecisionVariable (obj, num_new_vars, var_name)
appending new decision variables to the end of the current decision variables More...

function replaceCost (obj, cost, cost_idx, xind)
replace the cost_idx'th cost in the original problem with a new cost More...

function addSharedDataFunction (obj, user_fun, xind)
Adds the specified shared data function to be evaluated within each iteration of the program. More...

function getNumSharedDataFunctions (obj)

function evaluateSharedDataFunctions (obj, x)
Evaluate all shared data functions and return the data object. More...

function addDisplayFunction (obj, display_fun, indices)
add a dispay function that gets called on every iteration of the algorithm More...

function setConstraintErrTol (obj, tol)

function setSolver (obj, solver)

function setSolverOptions (obj, solver, optionname, optionval)

This function sets the nonlinear sparsity vector iGfun and jGvar based on the nonlinear sparsity of the objective, nonlinear inequality constraints and nonlinear equality constraints. More...

function bounds (obj)
return the bounds for all the objective function, nonlinear constraints and linear constraints More...

function solve (obj, x0)

function compareSolvers (obj, x0, solvers)

function isNonlinearConstraintID (obj, cnstr_id)
Given an ID, determine if any of the nonlinear constraint obj.nlcon has that ID. More...

function isLinearConstraintID (obj, cnstr_id)
Given an ID, determine if any of the linear constraint obj.lcon has that ID. More...

function isBoundingBoxConstraintID (obj, cnstr_id)
Given an ID, determine if any of the bounding box constraint obj.bbcon has that ID. More...

function deleteConstraint (obj, delete_cnstr_id)
delete a constraint from the program More...

function updateConstraint (obj, varargin)
update a Constraint of the program. More...

function deleteNonlinearConstraint (obj, delete_cnstr_id)
delete a nonlinear constraint from the program More...

function updateNonlinearConstraint (obj, varargin)
updateNonlinearConstraint(obj,cnstr_id,cnstr,xind,data_ind) update the nonlinear constraint whose id=cnstr_id with a new Constraint object cnstr, the newly added Constraint cnstr has the ID new_cnstr_id More...

function deleteLinearConstraint (obj, delete_cnstr_id)
delete the LinearConstraint obj.lcon{cnstr_idx} from the program More...

function updateLinearConstraint (obj, varargin)
updateLinearConstraint(obj,cnstr_id,cnstr,xind) update the linear constraint whose id=cnstr_id with a new Constraint object cnstr, the newly added Constraint cnstr has the ID new_cnstr_id More...

function deleteBoundingBoxConstraint (obj, cnstr_id)
delete the BoundingBoxConstraint in obj.bbcon with ID=cnstr_id from the program More...

function updateBoundingBoxConstraint (obj, varargin)
updateBoundingBoxConstraint(obj,cnstr_id,cnstr,xind) update the BoundingBoxConstraint whose id=cnstr_id with a new BoundingBoxConstraint cnstr More...

## Protected Attributes

Property Q

Property q_nom

Property q_idx

Property qsc_weight_idx

Property nq

Property robot

Property kinsol_dataind

Property rbm_joint_bnd_cnstr_id

Property pe

Protected Attributes inherited from NonlinearProgram
Property num_vars

Property num_cin

Property num_ceq

Property Ain

Property bin

Property Ain_name

Property Aeq

Property beq

Property Aeq_name

Property cin_lb

Property cin_ub

Property cin_name

Property ceq_name

Property x_lb

Property x_ub

Property x_name

Property solver

Property solver_options

Property display_funs

Property display_fun_indices

Property constraint_err_tol
numerical gradient at the begining and end of the nonlinear optimization More...

Property nlcon

Property lcon

Property bbcon

Property cost

Property nlcon_xind

Property bbcon_xind
nlcon{i}.eval(x(nlcon_xind{i}{1},x(nlcon_xind{i}{2},) cost_xind_cell % A cell array, cost_xind{i} is a cell array of int vectors recording the indices of x that is used in evaluating obj.cost{i} More...

Property shared_data_xind_cell
a cell array like nlcon_xind, where shared_data_xind_cell{i} is a cell array of int vectors recording indices used in evaluating the shared_data_function More...

Property nlcon_dataind
a cell array of function handles, each of which returns a data object so that shared_data{i} = shared_data_functions(x(shared_data_xind_cell{i}{1}),x(shared_data_xind_cell{i}{2}),) shared_data_functions More...

Property cost_dataind

Property iFfun
2 if user has their own snopt in MATLAB path More...

Property iCinfun

Property iCeqfun

## Additional Inherited Members

Protected Member Functions inherited from NonlinearProgram
function snopt (obj, x0)

function fmincon (obj, x0)
if (obj.num_cin + obj.num_ceq) nonlinearConstraints = .nonlinearConstraint; else nonlinearConstraints = []; end More...

function ipopt (obj, x0)

function setVarBounds (obj, lb, ub)

function mapSolverInfo (obj, exitflag, x)
Based on the solver information and solution, re-map the info. More...

## Detailed Description

solve the inverse kinematics problem min_q 0.5*(q-qnom)'Q(q-qnom)+cost1(q)+cost2(q)+ % s.t lb<= kc(q) <=ub q_lb<= q <=q_ub where cost1, cost2 are functions defined by user

Parameters
 robot – A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator Q – A nq x nq double matrix, where nq is the DOF. Penalize the posture error q_nom – An nq x 1 double vector. The nominal posture. rbm_joint_bnd_cnstr_id The ID of the BoundingBoxConstraint that enforces the posture to be within the joint limits of the RigidBodyManipulator

## Constructor & Destructor Documentation

 function InverseKinematics ( robot , q_nom , varargin )
Parameters
 robot – A RigidBodyManipulator or a TimeSteppingRigidBodyManipulator object q_nom – A nq x 1 double vector. The nominal posture RigidBodyConstraint_i – A RigidBodyConstraint object. Support SingleTimeKinematicConstraint, PostureConstraint, QuasiStaticConstraint and SingleTimeLinearPostureConstraint
Return values
 obj

## Member Function Documentation

 function kinematicsData ( obj , q )
Return values
 data
 function setQ ( obj , Q )

set the Q matrix in the cost function 0.5(q-q_nom)'Q(q-q_nom)

Parameters
 Q – An nq x nq double PSD matrix
Return values
 obj
 function setQnom ( obj , q_nom )
Return values
 obj
 function solve ( obj , q_seed )
Return values
 q F info infeasible_constraint

## Member Data Documentation

 Property kinsol_dataind
protected
 Property nq
protected
 Property pe
protected
 Property Q
protected
 Property q_idx
protected
 Property q_nom
protected
 Property qsc_weight_idx
protected
 Property rbm_joint_bnd_cnstr_id
protected
 Property robot
protected

The documentation for this class was generated from the following file:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/trajectoryOptimization/InverseKinematics.m