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.

virtual bool	open (yarp::os::Searchable &options)
	Configure the solver and start it up.

Public Member Functions inherited from iCub::iKin::CartesianSolver
	CartesianSolver (const std::string &_slvName)
	Constructor.

virtual void	interrupt ()
	Interrupt the open() method waiting for motor parts to be ready.

virtual void	close ()
	Stop the solver and dispose it.

virtual bool	isClosed () const
	To be called to check whether the solver has received a [quit] request.

virtual bool &	getTimeoutFlag ()
	To be called to check whether communication timeout has been detected.

virtual void	suspend ()
	Suspend the solver's main loop.

virtual void	resume ()
	Resume the solver's main loop.

virtual	~CartesianSolver ()
	Default destructor.

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.

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.

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.

Definition at line 583 of file iKinSlv.h.

Constructor & Destructor Documentation

◆ iCubArmCartesianSolver()

iCub::iKin::iCubArmCartesianSolver::iCubArmCartesianSolver ( const std::string & _slvName = "armCartSolver" )

inline

Constructor.

Parameters

_slvName specifies the base name for all ports created. By default is "armCartSolver". See the father's class constructor for the description of the ports

Definition at line 597 of file iKinSlv.h.

Member Function Documentation

◆ decodeDOF()

bool iCubArmCartesianSolver::decodeDOF ( const yarp::sig::Vector & _dof )

protectedvirtual

Reimplemented from iCub::iKin::CartesianSolver.

Definition at line 1831 of file iKinSlv.cpp.

◆ getPartDesc()

PartDescriptor * iCubArmCartesianSolver::getPartDesc ( yarp::os::Searchable & options )

protectedvirtual

Implements iCub::iKin::CartesianSolver.

Definition at line 1761 of file iKinSlv.cpp.

◆ open()

bool iCubArmCartesianSolver::open ( yarp::os::Searchable & options )

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

Public Member Functions

Protected Member Functions