iKinCartesianSolver

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

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

• YARP libraries.
• iKin library (it requires IPOPT: see the wiki).

Parameters

–part type [mandatory]

• select the part to run. type is the group name within the configuration file (e.g. left_arm, right_arm, ...).

–context directory [optional]

• allow specifying a different path where to search the configuration file (beware of the context search policy).

–from file [optional]

• allow specifying a different configuration file from the default one which is cartesianSolver.ini.

Ports Accessed

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

Ports Created

• /<solverName>/in : for requests in streaming mode.
• /<solverName>/rpc : for requests and replies.
• /<solverName>/out : for output streaming.

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
verbosity      off
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
verbosity       off
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