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| | LMCtrl_GPM (iKinChain &c, unsigned int _ctrlPose, double _Ts, double _mu0, double _mu_inc, double _mu_dec, double _mu_min, double _mu_max, double _sv_thres=1e-6) |
| | Constructor.
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| virtual yarp::sig::Vector | computeGPM () |
| | Returns the further contribution to the qdot=pinvJ*xdot equation according to the Gradient Projection Method, i.e.
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| void | set_K (const double _K) |
| | Sets the GPM gain (shall be positive).
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| double | get_K () const |
| | Returns the GPM gain (1.0 by default).
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| void | set_safeAreaRatio (const double _safeAreaRatio) |
| | Sets the safe area ratio [0-1], which is for each joint the ratio between the angle span within which the chain can be operated with 0-GPM and the overall angle span.
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| double | get_safeAreaRatio () const |
| | Returns the safe area ratio (0.9 by default).
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| | LMCtrl (iKinChain &c, unsigned int _ctrlPose, double _Ts, double _mu0, double _mu_inc, double _mu_dec, double _mu_min, double _mu_max, double _sv_thres=1e-6) |
| | Constructor.
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| virtual void | setChainConstraints (bool _constrained) |
| | Enables/Disables joint angles constraints.
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| virtual yarp::sig::Vector | iterate (yarp::sig::Vector &xd, const unsigned int verbose=0) |
| | Executes one iteration of the control algorithm.
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| virtual void | restart (const yarp::sig::Vector &q0) |
| | Reinitializes the algorithm's internal state and resets the starting point.
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| virtual bool | test_convergence (const double tol_size) |
| | Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance.
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| virtual std::string | getAlgoName () |
| | Returns the algorithm's name.
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| void | resetInt () |
| | Resets integral status at the current joint angles.
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| yarp::sig::Vector | get_qdot () const |
| | Returns the actual derivative of joint angles.
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| yarp::sig::Vector | get_gpm () const |
| | Returns the actual value of Gradient Projected.
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| double | get_mu () const |
| | Returns the current weighting factor mu.
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| void | reset_mu () |
| | Sets the weighting factor mu equal to the initial value.
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| virtual | ~LMCtrl () |
| | Destructor.
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| | iKinCtrl (iKinChain &c, unsigned int _ctrlPose) |
| | Constructor.
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| virtual yarp::sig::Vector | solve (yarp::sig::Vector &xd, const double tol_size=IKINCTRL_DISABLED, const int max_iter=IKINCTRL_DISABLED, const unsigned int verbose=0, int *exit_code=NULL, bool *exhalt=NULL) |
| | Iterates the control algorithm trying to converge on the target.
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| void | switchWatchDog (bool sw) |
| | Switch on/off the watchDog mechanism to trigger deadLocks.
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| virtual void | setInTargetTol (double tol_x) |
| | Sets tolerance for in-target check (5e-3 by default).
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| virtual double | getInTargetTol () const |
| | Returns tolerance for in-target check.
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| virtual void | setWatchDogTol (double tol_q) |
| | Sets tolerance for watchDog check (1e-4 by default).
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| virtual double | getWatchDogTol () const |
| | Returns tolerance for watchDog check.
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| virtual void | setWatchDogMaxIter (int maxIter) |
| | Sets maximum number of iterations to trigger the watchDog (200 by default).
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| virtual int | getWatchDogMaxIter () const |
| | Returns maximum number of iterations to trigger the watchDog.
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| virtual bool | isInTarget () |
| | Checks if the End-Effector is in target.
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| int | get_state () const |
| | Returns the algorithm's state.
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| void | set_ctrlPose (unsigned int _ctrlPose) |
| | Sets the state of Pose control settings.
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| unsigned int | get_ctrlPose () const |
| | Returns the state of Pose control settings.
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| unsigned int | get_dim () const |
| | Returns the number of Chain DOF.
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| unsigned int | get_iter () const |
| | Returns the number of performed iterations.
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| virtual yarp::sig::Vector | get_x () const |
| | Returns the actual cartesian position of the End-Effector.
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| virtual yarp::sig::Vector | get_e () const |
| | Returns the actual cartesian position error.
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| virtual void | set_q (const yarp::sig::Vector &q0) |
| | Sets the joint angles values.
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| virtual yarp::sig::Vector | get_q () const |
| | Returns the actual joint angles values.
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| virtual yarp::sig::Vector | get_grad () const |
| | Returns the actual gradient.
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| virtual yarp::sig::Matrix | get_J () const |
| | Returns the actual Jacobian used in computation.
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| virtual double | dist () const |
| | Returns the actual distance from the target in cartesian space (euclidean norm is used).
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| virtual | ~iKinCtrl () |
| | Default destructor.
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| virtual double | update_mu () |
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| virtual void | inTargetFcn () |
| | Method called whenever in target.
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| virtual void | deadLockRecoveryFcn () |
| | Method called whenever the watchDog is triggered.
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| virtual void | printIter (const unsigned int verbose) |
| | Dumps warning or status messages.
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| virtual yarp::sig::Matrix | pinv (const yarp::sig::Matrix &A, const double tol=0.0) |
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| virtual yarp::sig::Vector | calc_e () |
| | Computes the error according to the current controller settings (complete pose/translational/rotational part).
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| virtual void | update_state () |
| | Updates the control state.
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| virtual void | watchDog () |
| | Handles the watchDog.
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| virtual yarp::sig::Vector | checkVelocity (const yarp::sig::Vector &_qdot, double _Ts) |
| | Checks each joint velocity and sets it to zero if it steers the joint out of range.
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| unsigned int | printHandling (const unsigned int verbose=0) |
| | Method to be called within the printIter routine inherited by children in order to handle the highest word of verbose integer.
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A class derived from LMCtrl implementing the Gradient Projection Method according to the paper available here.
Definition at line 695 of file iKinInv.h.
Inheritance diagram for iCub::iKin::LMCtrl_GPM:
