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InverseKinematicsBMI Class Reference
Inheritance diagram for InverseKinematicsBMI:
Collaboration diagram for InverseKinematicsBMI:

Public Member Functions

function InverseKinematicsBMI (robot)
 
function addRobot (obj, robot)
 
function addPositionConstraint (obj, link_idx, pt, Aeq, beq, Ain, bin)
 add the constraint that the position c of point pt on link link_idx satisfies the linear constraint Ain*c<= bin Aeq*c = beq More...
 
function retrieveSolution (obj, solver_sol)
 
function plotSolution (obj, sol, sol_bilinear)
 
function fixLinkPosture (obj, link_idx, link_pos, link_quat)
 fix the link position and orientation of the robot More...
 
- Public Member Functions inherited from BMIspotless
function BMIspotless ()
 Please make sure you have spotless on your machine. More...
 
function addBilinearVariable (obj, w_new, W_new)
 
function optimize (obj, w_guess)
 
function descentDirection (obj, sol_w, sol_W)
 
function plotSolution (obj, sol, sol_bilinear)
 This function can be reloaded. More...
 
function retrieveSolution (obj, solver_sol)
 

Protected Attributes

Property robot
 
Property robot_visualizer
 
Property num_bodies
 
Property body_quat
 
Property body_pos
 
Property joint_cos
 
Property joint_sin
 
Property body_Quat
 
Property body_QuatTheta
 
Property body_Theta
 
- Protected Attributes inherited from BMIspotless
Property w
 
Property W
 
Property blk1s
 

Additional Inherited Members

- Public Attributes inherited from BMIspotless
Property res_tol
 
Property itr_max
 
Property alpha_covW
 
Property trial_max
 
Property early_terminate_itr
 At early_terminate_itr, the program will check the residue, if the residue is larger than early_terminate_tol, the program will terminate, as the problem is unlikely to converge. More...
 
Property early_terminate_tol
 
Property plot_iteration
 
Property final_backoff_flag
 
Property final_backoff_scale
 
Property use_lcmgl
 

Constructor & Destructor Documentation

function InverseKinematicsBMI ( robot  )
Return values
obj

Member Function Documentation

function addPositionConstraint ( obj  ,
link_idx  ,
pt  ,
Aeq  ,
beq  ,
Ain  ,
bin   
)

add the constraint that the position c of point pt on link link_idx satisfies the linear constraint Ain*c<= bin Aeq*c = beq

Return values
obj
function addRobot ( obj  ,
robot   
)
Return values
obj
function fixLinkPosture ( obj  ,
link_idx  ,
link_pos  ,
link_quat   
)

fix the link position and orientation of the robot

Parameters
link_idxThe index of the link to be fixed
link_posA 3 x 1 vector. The position of the link
link_quatA 4 x 1 unit vector. The quaternion of the link
Return values
obj
function plotSolution ( obj  ,
sol  ,
sol_bilinear   
)
function retrieveSolution ( obj  ,
solver_sol   
)
Return values
sol
sol_bilinear

Member Data Documentation

Property body_pos
protected
Property body_quat
protected
Property body_Quat
protected
Property body_QuatTheta
protected
Property body_Theta
protected
Property joint_cos
protected
Property joint_sin
protected
Property num_bodies
protected
Property robot
protected
Property robot_visualizer
protected

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