MoveIkDemoBase Class Reference

Detailed Description

This class provides some common functionality for generating IK plans for robot arms, including things like creating a MultibodyPlant, setting joint velocity limits, implementing a robot status update handler suitable for invoking from an LCM callback, and generating plans to move a specified link to a goal configuration.

This can be useful when building simple demonstration programs to move a robot arm, for example when testing new arms which haven't been previously used with Drake, or testing modifications to existing robot configurations. See the kuka_iiwa_arm and kinova_jaco_arm examples for existing uses.

#include <drake/manipulation/util/move_ik_demo_base.h>

Public Member Functions
	MoveIkDemoBase (std::string robot_description, std::string base_link, std::string ik_link, int print_interval)
	~MoveIkDemoBase ()
const multibody::MultibodyPlant< double > &	plant () const
void	set_joint_velocity_limits (const Eigen::Ref< const Eigen::VectorXd > &)
	Set the joint velocity limits when building the plan. More...
void	HandleStatus (const Eigen::Ref< const Eigen::VectorXd > &q)
	Update the current robot status. More...
std::optional< lcmt_robot_plan >	Plan (const math::RigidTransformd &goal_pose)
	Attempt to generate a plan moving ik_link (specified at construction time) from the joint configuration specified in the last call to HandleStatus to a configuration with ik_link at goal_pose. More...
int	status_count () const
	Returns a count of how many times HandleStatus has been called. More...
Does not allow copy, move, or assignment
	MoveIkDemoBase (const MoveIkDemoBase &)=delete
MoveIkDemoBase &	operator= (const MoveIkDemoBase &)=delete
	MoveIkDemoBase (MoveIkDemoBase &&)=delete
MoveIkDemoBase &	operator= (MoveIkDemoBase &&)=delete

Constructor & Destructor Documentation

MoveIkDemoBase() [1/3]

MoveIkDemoBase ( const MoveIkDemoBase &  )

delete

MoveIkDemoBase() [2/3]

MoveIkDemoBase ( MoveIkDemoBase &&  )

delete

MoveIkDemoBase() [3/3]

MoveIkDemoBase	(	std::string	robot_description,
		std::string	base_link,
		std::string	ik_link,
		int	print_interval
	)

Parameters

robot_description	A description file to load of the robot to plan.
base_link	Name of the base link of the robot, will be welded to the world in the planning model.
ik_link	Name of the link to plan a pose for.
print_interval	Print an updated end effector position every N calls to HandleStatus.

~MoveIkDemoBase()

~MoveIkDemoBase

(

)

Member Function Documentation

HandleStatus()

void HandleStatus

(

const Eigen::Ref< const Eigen::VectorXd > &

q

)

Update the current robot status.

Parameters

q	must be equal to the number of positions in the MultibodyPlant (see plant()).

operator=() [1/2]

MoveIkDemoBase& operator= ( const MoveIkDemoBase &  )

delete

operator=() [2/2]

MoveIkDemoBase& operator= ( MoveIkDemoBase &&  )

delete

Plan()

std::optional<lcmt_robot_plan> Plan

(

const math::RigidTransformd &

goal_pose

)

Attempt to generate a plan moving ik_link (specified at construction time) from the joint configuration specified in the last call to HandleStatus to a configuration with ik_link at goal_pose.

Returns nullopt if planning failed.

Exceptions

If	HandleStatus has not been invoked.

plant()

const multibody::MultibodyPlant<double>& plant

(

)

const

Returns

a reference to the internal plant.

set_joint_velocity_limits()

void set_joint_velocity_limits

(

const Eigen::Ref< const Eigen::VectorXd > &

)

Set the joint velocity limits when building the plan.

The default velocity limits from the robot description will be used if this isn't set.

Precondition

The size of the input vector must be equal to the number of velocities in the MultibodyPlant (see plant()).

status_count()

int status_count

(

)

const

Returns a count of how many times HandleStatus has been called.

---

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

• drake/manipulation/util/move_ik_demo_base.h