differential_inverse_kinematics.h File Reference

#include <limits>
#include <memory>
#include <optional>
#include <ostream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include "drake/common/copyable_unique_ptr.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/common/fmt_ostream.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/math/spatial_algebra.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/mathematical_program.h"

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Classes
struct	DifferentialInverseKinematicsResult
class	DifferentialInverseKinematicsParameters
	Contains parameters for the family of differential inverse kinematics function overloads below, each named DoDifferentialInverseKinematics(). More...
struct	formatter< drake::multibody::DifferentialInverseKinematicsStatus >

Namespaces
namespace	drake
namespace	drake::multibody
namespace	fmt

Enumerations
enum class	DifferentialInverseKinematicsStatus { kSolutionFound , kNoSolutionFound , kStuck }

Functions
std::ostream &	operator<< (std::ostream &os, const DifferentialInverseKinematicsStatus value)
Vector6< double >	ComputePoseDiffInCommonFrame (const math::RigidTransform< double > &X_C0, const math::RigidTransform< double > &X_C1)
	Computes the pose "difference" between X_C0 and X_C1 such that the linear part equals p_C1 - p_C0, and the angular part equals R_C1 * R_C0.inv(), where p and R stand for the position and rotation parts, and C is the common frame.
DifferentialInverseKinematicsResult	DoDifferentialInverseKinematics (const Eigen::Ref< const VectorX< double > > &q_current, const Eigen::Ref< const VectorX< double > > &v_current, const Eigen::Ref< const VectorX< double > > &V, const Eigen::Ref< const MatrixX< double > > &J, const DifferentialInverseKinematicsParameters &parameters, const std::optional< Eigen::Ref< const Eigen::SparseMatrix< double > > > &N=std::nullopt, const std::optional< Eigen::Ref< const Eigen::SparseMatrix< double > > > &Nplus=std::nullopt)
	Computes a generalized velocity v_next, via the following MathematicalProgram:
DifferentialInverseKinematicsResult	DoDifferentialInverseKinematics (const MultibodyPlant< double > &robot, const systems::Context< double > &context, const Vector6< double > &V_WE_desired, const Frame< double > &frame_E, const DifferentialInverseKinematicsParameters &parameters)
	A wrapper over DoDifferentialInverseKinematics(q_current, v_current, V, J, params) that tracks frame E's spatial velocity.
DifferentialInverseKinematicsResult	DoDifferentialInverseKinematics (const MultibodyPlant< double > &robot, const systems::Context< double > &context, const Vector6< double > &V_AE_desired, const Frame< double > &frame_A, const Frame< double > &frame_E, const DifferentialInverseKinematicsParameters &parameters)
	A wrapper over DoDifferentialInverseKinematics(q_current, v_current, V, J, params) that tracks frame E's spatial velocity in frame A.
DifferentialInverseKinematicsResult	DoDifferentialInverseKinematics (const MultibodyPlant< double > &robot, const systems::Context< double > &context, const math::RigidTransform< double > &X_WE_desired, const Frame< double > &frame_E, const DifferentialInverseKinematicsParameters &parameters)
	A wrapper over DoDifferentialInverseKinematics(robot, context, V_WE_desired, frame_E, params) that tracks frame E's pose in the world frame.
DifferentialInverseKinematicsResult	DoDifferentialInverseKinematics (const MultibodyPlant< double > &robot, const systems::Context< double > &context, const math::RigidTransform< double > &X_AE_desired, const Frame< double > &frame_A, const Frame< double > &frame_E, const DifferentialInverseKinematicsParameters &parameters)
	A wrapper over DoDifferentialInverseKinematics(robot, context, V_AE_desired, frame_A, frame_E, params) that tracks frame E's pose in frame A.