iCub-main
iKinCartesianSolver
+ Collaboration diagram for iKinCartesianSolver:


Just a container which runs the Cartesian Solver taking parameters from a configuration file.

Copyright (C) 2010 RobotCub Consortium

Author: Ugo Pattacini

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

See Cartesian Solver for documentation.

Libraries

Parameters

–part type [mandatory]

–context directory [optional]

–from file [optional]

Ports Accessed

All ports which allow the access to motor interface shall be previously open.

Ports Created

Note
for a detailed description, see iKinSlv.

Configuration Files

Here's how the configuration file will look like for the specific icub part left_arm:

[left_arm]
robot icub
name cartesianSolver/left_arm
type left
period 20
dof (0 0 0 1 1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (1.0 1.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
maxIter 200
tol 0.001
interPoints off
ping_robot_tmo 20.0

Here's how the configuration file will look like for a custom robot part:

[left_arm]
robot my-robot
name cartesianSolver/left_arm
type left
period 20
dof (1 1 1 1 1 1 1)
rest_pos (0.0 0.0 0.0 0.0 0.0 0.0 0.0)
rest_weights (0.0 0.0 0.0 0.0 0.0 0.0 0.0)
pose full
mode shot
maxIter 200
tol 0.001
interPoints off
ping_robot_tmo 20.0
CustomKinFile cartesian/kinematics.ini
NumberOfDrivers 1
driver_0 (Key left_arm) (JointsOrder direct)
LIC_num 7
LIC_0 (C (1.71 -1.71 0.0 0.0 0.0 0.0 0.0)) (lB -6.051)
LIC_1 (C (1.71 -1.71 -1.71 0.0 0.0 0.0 0.0)) (lB -6.397) (uB 1.962)
LIC_2 (C ( 0.0 1.0 1.0 0.0 0.0 0.0 0.0)) (lB -1.162) (uB 3.722)
LIC_3 (C ( 0.0 1.0 0.0427 0.0 0.0 0.0 0.0)) (lB 0.461)
LIC_4 (C ( 0.0 1.0 0.0 0.0 0.0 0.0 0.0)) (uB 1.745)
LIC_5 (C ( 0.0 0.0 0.0 2.5 1.0 0.0 0.0)) (uB 5.280)
LIC_6 (C ( 0.0 0.0 0.0 -2.5 1.0 0.0 0.0)) (lB -5.280)
Note
for a detailed description of options, see Cartesian Solver.

Tested OS

Windows, Linux

Author
Ugo Pattacini
verbosity
int verbosity
Definition: main.cpp:21
mode
GLenum mode
Definition: rendering.cpp:48