differential_inverse_kinematics_system.h File Reference

#include <limits>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include "drake/common/drake_copyable.h"
#include "drake/common/name_value.h"
#include "drake/common/string_unordered_map.h"
#include "drake/planning/collision_checker.h"
#include "drake/planning/dof_mask.h"
#include "drake/planning/joint_limits.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/systems/framework/leaf_system.h"

Include dependency graph for differential_inverse_kinematics_system.h:

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Classes
class	DifferentialInverseKinematicsSystem
	The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velocities) for an arbitrary number of "goal" frames on the robot, and produces a generalized velocity command as output to move the goal frames toward the desired state. More...
struct	DifferentialInverseKinematicsSystem::CallbackDetails
	(Internal use only) A group of common arguments relevant to multiple different costs and constraints within the DifferentialInverseKinematicsSystem program formulation. More...
class	DifferentialInverseKinematicsSystem::Ingredient
	(Internal use only) A user-provided set of constraint(s) and/or cost(s) for a DifferentialInverseKinematicsSystem recipe, to allow for user customization of the mathematical program formulation. More...
class	DifferentialInverseKinematicsSystem::Recipe
	A recipe collects a list of ingredients for DifferentialInverseKinematicsSystem, allowing the user to customize the program being solved. More...
class	DifferentialInverseKinematicsSystem::LeastSquaresCost
	Provides a primary DifferentialInverseKinematicsSystem objective to minimize G*| S * (Vd_TGs - Jv_TGs * v_next)|², also known as the "least squares" formulation. More...
struct	DifferentialInverseKinematicsSystem::LeastSquaresCost::Config
class	DifferentialInverseKinematicsSystem::JointCenteringCost
	Provides a secondary minimization objective. More...
struct	DifferentialInverseKinematicsSystem::JointCenteringCost::Config
class	DifferentialInverseKinematicsSystem::CartesianPositionLimitConstraint
	Constrains the goal frames to a cartesian bounding box: ∀i p_TG_next_lower ≤ p_TGi + Jv_TGi[3:6] * v_next * Δt ≤ p_TG_next_upper where: More...
struct	DifferentialInverseKinematicsSystem::CartesianPositionLimitConstraint::Config
class	DifferentialInverseKinematicsSystem::CartesianVelocityLimitConstraint
	Constrains the spatial velocities of the goal frames: ∀i, ∀j ∈ [0, 5]: abs(Jv_TGi * v_next)[j] ≤ V_next_TG_limit[j]. More...
struct	DifferentialInverseKinematicsSystem::CartesianVelocityLimitConstraint::Config
class	DifferentialInverseKinematicsSystem::CollisionConstraint
	Constrains the collision clearance around the robot to remain above the safety distance: ∀j ϕₛ ≤ ϕⱼ + ∂ϕⱼ/∂q_active * v_next * Δt where: More...
struct	DifferentialInverseKinematicsSystem::CollisionConstraint::Config
class	DifferentialInverseKinematicsSystem::JointVelocityLimitConstraint
	Constrains the generalized velocity to prevent a commanded velocity that would push the generalized position outside its limits. More...
struct	DifferentialInverseKinematicsSystem::JointVelocityLimitConstraint::Config

Namespaces
	drake
	drake::multibody

Typedefs
using	SelectDataForCollisionConstraintFunction = std::function< void(const planning::DofMask &active_dof, const planning::RobotClearance &robot_clearance, Eigen::VectorXd *dist_out, Eigen::MatrixXd *ddist_dq_out)>
	(Advanced) Filters clearance data for defining a collision constraint, as used by DifferentialInverseKinematicsSystem::CollisionConstraint. More...