Derived class which implements the on-line solver for the chain torso+arm. More...
#include <iKinSlv.h>
Inheritance diagram for iCub::iKin::iCubArmCartesianSolver:
Public Member Functions | |
| iCubArmCartesianSolver (const std::string &_slvName="armCartSolver") | |
| Constructor. More... | |
| virtual bool | open (yarp::os::Searchable &options) |
| Configure the solver and start it up. More... | |
| Public Member Functions inherited from iCub::iKin::CartesianSolver | |
| CartesianSolver (const std::string &_slvName) | |
| Constructor. More... | |
| virtual void | interrupt () |
| Interrupt the open() method waiting for motor parts to be ready. More... | |
| virtual void | close () |
| Stop the solver and dispose it. More... | |
| virtual bool | isClosed () const |
| To be called to check whether the solver has received a [quit] request. More... | |
| virtual bool & | getTimeoutFlag () |
| To be called to check whether communication timeout has been detected. More... | |
| virtual void | suspend () |
| Suspend the solver's main loop. More... | |
| virtual void | resume () |
| Resume the solver's main loop. More... | |
| virtual | ~CartesianSolver () |
| Default destructor. More... | |
Protected Member Functions | |
| virtual PartDescriptor * | getPartDesc (yarp::os::Searchable &options) |
| virtual bool | decodeDOF (const yarp::sig::Vector &_dof) |
| Protected Member Functions inherited from iCub::iKin::CartesianSolver | |
| virtual yarp::sig::Vector | solve (yarp::sig::Vector &xd) |
| virtual yarp::sig::Vector & | encodeDOF () |
| virtual bool | handleJointsRestPosition (const yarp::os::Bottle *options, yarp::os::Bottle *reply=NULL) |
| virtual bool | handleJointsRestWeights (const yarp::os::Bottle *options, yarp::os::Bottle *reply=NULL) |
| yarp::dev::PolyDriver * | waitPart (const yarp::os::Property &partOpt) |
| bool | isNewDOF (const yarp::sig::Vector &_dof) |
| bool | changeDOF (const yarp::sig::Vector &_dof) |
| bool | alignJointsBounds () |
| bool | setLimits (int axis, double min, double max) |
| void | countUncontrolledJoints () |
| void | latchUncontrolledJoints (yarp::sig::Vector &joints) |
| void | getFeedback (const bool wait=false) |
| void | initPos () |
| void | lock () |
| void | unlock () |
| void | waitDOFHandling () |
| void | postDOFHandling () |
| void | fillDOFInfo (yarp::os::Bottle &reply) |
| void | send (const yarp::sig::Vector &xd, const yarp::sig::Vector &x, const yarp::sig::Vector &q, double *tok) |
| void | printInfo (const std::string &typ, const yarp::sig::Vector &xd, const yarp::sig::Vector &x, const yarp::sig::Vector &q, const double t) |
| virtual void | prepareJointsRestTask () |
| virtual void | respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply) |
| virtual bool | threadInit () |
| virtual void | afterStart (bool) |
| virtual void | run () |
| virtual void | threadRelease () |
Additional Inherited Members | |
| Static Protected Member Functions inherited from iCub::iKin::CartesianHelper | |
| 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) |
| static void | addTargetOption (yarp::os::Bottle &b, const yarp::sig::Vector &xd) |
| Appends to a bottle all data needed to command a target. More... | |
| static void | addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof) |
| Appends to a bottle all data needed to reconfigure chain's dof. More... | |
| static void | addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos) |
| Appends to a bottle all data needed to modify joints rest position. More... | |
| static void | addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights) |
| Appends to a bottle all data needed to modify joints rest weights. More... | |
| static void | addPoseOption (yarp::os::Bottle &b, const unsigned int pose) |
| Appends to a bottle all data needed to change the pose mode. More... | |
| static void | addModeOption (yarp::os::Bottle &b, const bool tracking) |
| Appends to a bottle all data needed to change the tracking mode. More... | |
| static void | addTokenOption (yarp::os::Bottle &b, const double token) |
| Appends to a bottle a token to be exchanged with the solver. More... | |
| static yarp::os::Bottle * | getTargetOption (const yarp::os::Bottle &b) |
| Retrieves commanded target data from a bottle. More... | |
| static yarp::os::Bottle * | getEndEffectorPoseOption (const yarp::os::Bottle &b) |
| Retrieves the end-effector pose data. More... | |
| static yarp::os::Bottle * | getJointsOption (const yarp::os::Bottle &b) |
| Retrieves the joints configuration data. More... | |
| static bool | getTokenOption (const yarp::os::Bottle &b, double *token) |
| Retrieves the token from the bottle. More... | |
| static bool | computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp) |
| Retrieves current fixation point given the current kinematics configuration of the eyes. More... | |
| 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. More... | |
| Protected Attributes inherited from iCub::iKin::CartesianSolver | |
| PartDescriptor * | prt |
| std::deque< yarp::dev::PolyDriver * > | drv |
| std::deque< yarp::dev::IControlLimits * > | lim |
| std::deque< yarp::dev::IEncoders * > | enc |
| std::deque< int > | jnt |
| std::deque< int * > | rmp |
| iKinIpOptMin * | slv |
| SolverCallback * | clb |
| RpcProcessor * | cmdProcessor |
| yarp::os::Port * | rpcPort |
| InputPort * | inPort |
| yarp::os::BufferedPort< yarp::os::Bottle > * | outPort |
| std::mutex | mtx |
| std::string | slvName |
| std::string | type |
| unsigned int | period |
| unsigned int | ctrlPose |
| bool | fullDOF |
| bool | contModeOld |
| bool | configured |
| bool | closing |
| bool | closed |
| bool | interrupting |
| bool | verbosity |
| bool | timeout_detected |
| int | maxPartJoints |
| int | unctrlJointsNum |
| double | ping_robot_tmo |
| double | token |
| double * | pToken |
| yarp::sig::Matrix | hwLimits |
| yarp::sig::Matrix | swLimits |
| yarp::sig::Vector | unctrlJointsOld |
| yarp::sig::Vector | dof |
| yarp::sig::Vector | restJntPos |
| yarp::sig::Vector | restWeights |
| yarp::sig::Vector | xd_2ndTask |
| yarp::sig::Vector | w_2ndTask |
| yarp::sig::Vector | qd_3rdTask |
| yarp::sig::Vector | w_3rdTask |
| yarp::sig::Vector | idx_3rdTask |
| std::mutex | mtx_dofEvent |
| std::condition_variable | cv_dofEvent |
Detailed Description
Derived class which implements the on-line solver for the chain torso+arm.
Constructor & Destructor Documentation
◆ iCubArmCartesianSolver()
|
inline |
Member Function Documentation
◆ decodeDOF()
|
protectedvirtual |
Reimplemented from iCub::iKin::CartesianSolver.
Definition at line 1831 of file iKinSlv.cpp.
◆ getPartDesc()
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protectedvirtual |
Implements iCub::iKin::CartesianSolver.
Definition at line 1761 of file iKinSlv.cpp.
◆ open()
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virtual |
Configure the solver and start it up.
- Parameters
-
options contains the set of options in form of a Property object.
Available options are:
robot <string>: example (robot icub), specifies the name of the robot to connect to.
type <string>: example (type right), specifies the type of the limb to be instantiated; it can be "left" or "right".
dof <(int int ...)>: example (dof (1 1 0 1 ...)), specifies which dof of the chain are actuated (by putting 1 in the corresponding position) and which not (with 0). The length of the provided list of 1's and 0's should match the number of chain's links. The special value 2 is used to keep the link status unchanged and proceed to the next link.
rest_pos <(double double ...)>: example (rest_pos (20.0 0.0 0.0 ...)), specifies in degrees the joints rest position used as secondary task in the minimization. The length of the provided list should match the number of chain's links. Default values are (0.0 0.0 0.0 ...).
rest_weights <(double double ...)>: example (rest_weights (1.0 0.0 0.0 1.0 ...)), specifies for each link the weights used for the secondary task minimization. The length of the provided list should match the number of the chain's links. Default values are (0.0 0.0 0.0 ...).
period <int>: example (period 30), specifies the thread period in ms.
pose <vocab>: example (pose full), specifies the end-effector pose the user wants to achieve; it can be [full] (position+orientation) or [xyz] (only position).
mode : example (mode cont), selects the solver mode between [cont] which implements a continuous tracking and [shot] which does not compensate for movements induced on unacatuated joints.
verbosity <vocab>: example (verbosity on), selects whether to report or not on the screen the result of each optimization instance; allowed values are [on] or [off].
tol <double>: example (tol 0.001), specifies the desired tolerance on the task function to be minimized.
constr_tol <double>: example (constr_tol 0.000001), specifies the desired tolerance for the constraints to comply with.
maxIter <int>: example (maxIter 200), specifies the maximum number of iterations allowed for one optimization instance.
interPoints <vocab>: example (interPoints on), selects whether to force or not the solver to output on the port all intermediate points of optimization instance; allowed values are [on] or [off].
ping_robot_tmo <double>: example (ping_robot_tmo 2.0), specifies a timeout in seconds during which robot state ports are pinged prior to connecting; a timeout equal to zero disables this option.
- Returns
- true/false if successful/failed
Reimplemented from iCub::iKin::CartesianSolver.
Definition at line 1813 of file iKinSlv.cpp.
The documentation for this class was generated from the following files:
- icub-main/src/libraries/iKin/include/iCub/iKin/iKinSlv.h
- icub-main/src/libraries/iKin/src/iKinSlv.cpp
