Helper class providing useful methods to deal with Cartesian Solver options. More...

#include <iKinHlp.h>

Inheritance diagram for iCub::iKin::CartesianHelper:

Static Public Member Functions
static void	addTargetOption (yarp::os::Bottle &b, const yarp::sig::Vector &xd)
	Appends to a bottle all data needed to command a target.

static void	addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof)
	Appends to a bottle all data needed to reconfigure chain's dof.

static void	addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos)
	Appends to a bottle all data needed to modify joints rest position.

static void	addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights)
	Appends to a bottle all data needed to modify joints rest weights.

static void	addPoseOption (yarp::os::Bottle &b, const unsigned int pose)
	Appends to a bottle all data needed to change the pose mode.

static void	addModeOption (yarp::os::Bottle &b, const bool tracking)
	Appends to a bottle all data needed to change the tracking mode.

static void	addTokenOption (yarp::os::Bottle &b, const double token)
	Appends to a bottle a token to be exchanged with the solver.

static yarp::os::Bottle *	getTargetOption (const yarp::os::Bottle &b)
	Retrieves commanded target data from a bottle.

static yarp::os::Bottle *	getEndEffectorPoseOption (const yarp::os::Bottle &b)
	Retrieves the end-effector pose data.

static yarp::os::Bottle *	getJointsOption (const yarp::os::Bottle &b)
	Retrieves the joints configuration data.

static bool	getTokenOption (const yarp::os::Bottle &b, double *token)
	Retrieves the token from the bottle.

static bool	computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp)
	Retrieves current fixation point given the current kinematics configuration of the eyes.

static bool	computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp, yarp::sig::Matrix &J)
	Retrieves current fixation point and its Jacobian wrt eyes tilt-pan-vergence dofs given the current kinematics configuration of the eyes.

Static Protected Member Functions
static void	addVectorOption (yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v)

static bool	getDesiredOption (const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)

Detailed Description

Helper class providing useful methods to deal with Cartesian Solver options.

Definition at line 47 of file iKinHlp.h.

Member Function Documentation

◆ addDOFOption()

void CartesianHelper::addDOFOption	(	yarp::os::Bottle &	b,
		const yarp::sig::Vector &	dof
	)

static

Appends to a bottle all data needed to reconfigure chain's dof.

Parameters

b	is the bottle where to append the data.
dof	is the vector of new chain's dof configuration.

Definition at line 93 of file iKinHlp.cpp.

◆ addJointsResPosOption()

void CartesianHelper::addJointsResPosOption	(	yarp::os::Bottle &	b,
		const yarp::sig::Vector &	restPos
	)

static

Appends to a bottle all data needed to modify joints rest position.

Parameters

b	is the bottle where to append the data.
restPos	is the vector of new joints rest position expressed in [deg].

Definition at line 100 of file iKinHlp.cpp.

◆ addJointsRestWeightsOption()

void CartesianHelper::addJointsRestWeightsOption	(	yarp::os::Bottle &	b,
		const yarp::sig::Vector &	restWeights
	)

static

Appends to a bottle all data needed to modify joints rest weights.

Parameters

b	is the bottle where to append the data.
restWeights	is the vector of new joints rest weights.

Definition at line 107 of file iKinHlp.cpp.

◆ addModeOption()

void CartesianHelper::addModeOption	(	yarp::os::Bottle &	b,
		const bool	tracking
	)

static

Appends to a bottle all data needed to change the tracking mode.

Parameters

b	is the bottle where to append the data.
tracking	true to enable tracking mode.

Definition at line 127 of file iKinHlp.cpp.

◆ addPoseOption()

void CartesianHelper::addPoseOption	(	yarp::os::Bottle &	b,
		const unsigned int	pose
	)

static

Appends to a bottle all data needed to change the pose mode.

Parameters

b	is the bottle where to append the data.
pose	is the new pose mode. IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled.

Definition at line 114 of file iKinHlp.cpp.

◆ addTargetOption()

void CartesianHelper::addTargetOption	(	yarp::os::Bottle &	b,
		const yarp::sig::Vector &	xd
	)

static

Appends to a bottle all data needed to command a target.

Parameters

b	is the bottle where to append the data.
xd	is the target [7-components vector].

Definition at line 86 of file iKinHlp.cpp.

◆ addTokenOption()

void CartesianHelper::addTokenOption	(	yarp::os::Bottle &	b,
		const double	token
	)

static

Appends to a bottle a token to be exchanged with the solver.

Parameters

token.

Note: useful for some synchronization.

Definition at line 140 of file iKinHlp.cpp.

◆ addVectorOption()

void CartesianHelper::addVectorOption	(	yarp::os::Bottle &	b,
		const int	vcb,
		const yarp::sig::Vector &	v
	)

staticprotected

Definition at line 26 of file iKinHlp.cpp.

◆ computeFixationPointData() [1/2]

static bool iCub::iKin::CartesianHelper::computeFixationPointData	(	iKinChain &	eyeL,
		iKinChain &	eyeR,
		yarp::sig::Vector &	fp
	)

static

Retrieves current fixation point given the current kinematics configuration of the eyes.

Parameters

eyeL	the current configuration of the left eye.
eyeR	the current configuration of the right eye.
fp	the Vector where to store the fixation point coordinates.

Returns: true iff the computation of the quantities went well, false otherwise.

◆ computeFixationPointData() [2/2]

static bool iCub::iKin::CartesianHelper::computeFixationPointData	(	iKinChain &	eyeL,
		iKinChain &	eyeR,
		yarp::sig::Vector &	fp,
		yarp::sig::Matrix &	J
	)

static

Retrieves current fixation point and its Jacobian wrt eyes tilt-pan-vergence dofs given the current kinematics configuration of the eyes.

Parameters

eyeL	the current configuration of the left eye.
eyeR	the current configuration of the right eye.
fp	the Vector where to store the fixation point coordinates.
J	the fixation point Jacobian wrt eyes configuration.

Returns: true iff the computation of the quantities went well, false otherwise.

◆ getDesiredOption()

bool CartesianHelper::getDesiredOption	(	const yarp::os::Bottle &	reply,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

staticprotected

Definition at line 38 of file iKinHlp.cpp.

◆ getEndEffectorPoseOption()

Bottle * CartesianHelper::getEndEffectorPoseOption ( const yarp::os::Bottle & b )

static

Retrieves the end-effector pose data.

Parameters

b	is the bottle containing the data to be retrieved.

Returns: a pointer to the sub-bottle containing the retrieved data.

Definition at line 156 of file iKinHlp.cpp.

◆ getJointsOption()

Bottle * CartesianHelper::getJointsOption ( const yarp::os::Bottle & b )

static

Retrieves the joints configuration data.

Parameters

b	is the bottle containing the data to be retrieved.

Returns: a pointer to the sub-bottle containing the retrieved data.

Definition at line 163 of file iKinHlp.cpp.

◆ getTargetOption()

Bottle * CartesianHelper::getTargetOption ( const yarp::os::Bottle & b )

static

Retrieves commanded target data from a bottle.

Parameters

b	is the bottle containing the data to be retrieved.

Returns: a pointer to the sub-bottle containing the retrieved data.

Definition at line 149 of file iKinHlp.cpp.

◆ getTokenOption()

bool CartesianHelper::getTokenOption	(	const yarp::os::Bottle &	b,
		double *	token
	)

static

Retrieves the token from the bottle.

Parameters

b	is the bottle containing the data to be retrieved.
token	is the pointer where to return the token.

Returns: true iff the token property is present within the bottle b

Definition at line 170 of file iKinHlp.cpp.

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

icub-main/src/libraries/iKin/include/iCub/iKin/iKinHlp.h
icub-main/src/libraries/iKin/src/iKinHlp.cpp

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Member Function Documentation

◆ addDOFOption()

◆ addJointsResPosOption()

◆ addJointsRestWeightsOption()

◆ addModeOption()

◆ addPoseOption()

◆ addTargetOption()

◆ addTokenOption()

◆ addVectorOption()

◆ computeFixationPointData() [1/2]

◆ computeFixationPointData() [2/2]

◆ getDesiredOption()

◆ getEndEffectorPoseOption()

◆ getJointsOption()

◆ getTargetOption()

◆ getTokenOption()