#include <ActionModelIK.h>

Inheritance diagram for Rcs::ActionModelIK:

[legend]

Collaboration diagram for Rcs::ActionModelIK:

Public Member Functions
	ActionModelIK (RcsGraph *graph)

	ActionModelIK (RcsGraph graph, std::vector< Task > tasks)

virtual	~ActionModelIK ()

virtual void	reset ()

const ControllerBase *	getController () const

RcsGraph *	getDesiredGraph () const

void	setDesiredGraph (RcsGraph *newGraph)

void	setupCollisionModel (const RcsCollisionMdl *modelToCopy)

void	computeIK (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd x_des, double dt)

void	computeIKVel (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd x_dot_des, double dt)

Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)

virtual	~ActionModel ()

ActionModel *	clone () const

virtual ActionModel *	clone (RcsGraph *newGraph) const =0

virtual void	computeCommand (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd action, double dt)=0

virtual void	getStableAction (MatNd *action) const =0

RcsGraph *	getGraph ()

void	setGraph (RcsGraph *newGraph)

virtual ActionModel *	getWrappedActionModel () const

const ActionModel *	unwrapAll () const

ActionModel *	unwrapAll ()

template<typename AM >
const AM *	unwrap () const

template<typename AM >
AM *	unwrap ()

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

virtual unsigned int	getDim () const =0

virtual void	getMinMax (double min, double max) const =0

virtual std::vector< std::string >	getNames () const

Protected Member Functions
void	addTask (Task *task)

void	addFixedTask (Task task, MatNd value)

unsigned int	getNumActiveTasks () const

void	ikFromDX (MatNd q_des, MatNd q_dot_des, double dt) const

Protected Attributes
RcsGraph *	desiredGraph

RcsCollisionMdl *	collisionMdl

MatNd *	dx_des

MatNd *	dH

MatNd *	dq_ref

Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Private Attributes
ControllerBase *	controller

IkSolverRMR *	solver

double	alpha = 1e-4

double	lambda = 1e-6

MatNd *	fixedTasksValues

unsigned int	dimFixedTasks

Friends
class	AMIKGeneric

Detailed Description

Base class for IK-based action models.

This class encapsulates a Rcs ControllerBase object as well as an inverse kinematics solver.

To use this, create a subclass and add your tasks in the constructor. Then, use computeIK(...) to invoke the solver.

In order to facilitate stable kinematics, the joint space error returned by the IK solver is integrated into the desired joint states ignoring the current measurements. To faciliate this, the ControllerBase object contains a copy of the main RcsGraph. Thus, all IK tasks should use this graph.

Definition at line 52 of file ActionModelIK.h.

Constructor & Destructor Documentation

◆ ActionModelIK() [1/2]

Rcs::ActionModelIK::ActionModelIK ( RcsGraph * graph )

explicit

Create an empty IK-based action model. Tasks must be added to the controller before the first reset() call.

Parameters

graph current state graph

Definition at line 122 of file ActionModelIK.cpp.

◆ ActionModelIK() [2/2]

Rcs::ActionModelIK::ActionModelIK	(	RcsGraph *	graph,
		std::vector< Task *>	tasks
	)

explicit

Create an IK based action model using a fixed set of tasks.

Parameters

graph	current state graph
tasks	controller tasks to use

Definition at line 144 of file ActionModelIK.cpp.

◆ ~ActionModelIK()

Rcs::ActionModelIK::~ActionModelIK ( )

virtual

Definition at line 154 of file ActionModelIK.cpp.

Member Function Documentation

◆ addFixedTask()

void Rcs::ActionModelIK::addFixedTask	(	Task *	task,
		MatNd *	value
	)

protected

Add Rcs controller tasks that is always fixed to one target value. Do this after adding the regular tasks.

Definition at line 283 of file ActionModelIK.cpp.

◆ addTask()

void Rcs::ActionModelIK::addTask ( Task * task )

protected

Add a task to the controller. This works exactly as getController()->addTask() would. However, tasks may only be added before the first reset() call. Thus, getController() returns a const reference, and this method makes sure reset has not been called yet.

Parameters

[in] task task to add. Takes ownership.

Definition at line 165 of file ActionModelIK.cpp.

◆ computeIK()

void Rcs::ActionModelIK::computeIK	(	MatNd *	q_des,
		MatNd *	q_dot_des,
		MatNd *	T_des,
		const MatNd *	x_des,
		double	dt
	)

Compute IK solution from desired task space state.

Parameters

[out]	q_des	resulting desired joint positions
[out]	q_dot_des	resulting desired joint velocities
[out]	T_des	resulting desired joint torques
[in]	x_des	desired task space state
[in]	dt	time step since the last call

Definition at line 191 of file ActionModelIK.cpp.

◆ computeIKVel()

void Rcs::ActionModelIK::computeIKVel	(	MatNd *	q_des,
		MatNd *	q_dot_des,
		MatNd *	T_des,
		const MatNd *	x_dot_des,
		double	dt
	)

Compute IK solution from desired task space velocity.

Parameters

[out]	q_des	resulting desired joint positions
[out]	q_dot_des	resulting desired joint velocities
[out]	T_des	resulting desired joint torques
[in]	x_dot_des	desired task space velocity
[in]	dt	time step since the last call

Definition at line 200 of file ActionModelIK.cpp.

◆ getController()

const ControllerBase* Rcs::ActionModelIK::getController ( ) const

inline

Exposes a const reference to the controller object. This is readonly since modifying the controller could break the solver.

Definition at line 76 of file ActionModelIK.h.

◆ getDesiredGraph()

RcsGraph * Rcs::ActionModelIK::getDesiredGraph ( ) const

The graph holding the desired state of the IK solver.

Definition at line 262 of file ActionModelIK.cpp.

◆ getNumActiveTasks()

unsigned int Rcs::ActionModelIK::getNumActiveTasks ( ) const

protected

Definition at line 298 of file ActionModelIK.cpp.

◆ ikFromDX()

void Rcs::ActionModelIK::ikFromDX	(	MatNd *	q_des,
		MatNd *	q_dot_des,
		double	dt
	)		const

protected

Definition at line 210 of file ActionModelIK.cpp.

◆ reset()

void Rcs::ActionModelIK::reset ( )

virtual

Called at the start of a rollout to reset any state modified by computeCommand(). This allows to reuse the ActionModel for a new simulation rollout. The graph state will already be reset, so it can be used safely. It will be called before the first rollout too, so it can also be used to setup internals that depend on operations in subclass constructors.

Reimplemented from Rcs::ActionModel.

Reimplemented in Rcs::AMIKControllerActivation, and Rcs::AMPlateAngPos.

Definition at line 175 of file ActionModelIK.cpp.

◆ setDesiredGraph()

void Rcs::ActionModelIK::setDesiredGraph ( RcsGraph * newGraph )

Definition at line 267 of file ActionModelIK.cpp.

◆ setupCollisionModel()

void Rcs::ActionModelIK::setupCollisionModel ( const RcsCollisionMdl * modelToCopy )

Setup collision avoidance in the IK.

Will use a copy of the given collision model which operates on the desired graph.

Parameters

modelToCopy collision model to copy

Definition at line 272 of file ActionModelIK.cpp.

Friends And Related Function Documentation

◆ AMIKGeneric

friend class AMIKGeneric

friend

Definition at line 141 of file ActionModelIK.h.

Member Data Documentation

◆ alpha

double Rcs::ActionModelIK::alpha = 1e-4

private

Scaling factor for the nullspace gradient.

Definition at line 148 of file ActionModelIK.h.

◆ collisionMdl

RcsCollisionMdl* Rcs::ActionModelIK::collisionMdl

protected

Definition at line 129 of file ActionModelIK.h.

◆ controller

ControllerBase* Rcs::ActionModelIK::controller

private

Holder for the IK tasks (owned)

Definition at line 144 of file ActionModelIK.h.

◆ desiredGraph

RcsGraph* Rcs::ActionModelIK::desiredGraph

protected

Definition at line 126 of file ActionModelIK.h.

◆ dH

MatNd* Rcs::ActionModelIK::dH

protected

Definition at line 136 of file ActionModelIK.h.

◆ dimFixedTasks

unsigned int Rcs::ActionModelIK::dimFixedTasks

private

Store the cumulative number of task dimensions which are fixed to one target value.

Definition at line 154 of file ActionModelIK.h.

◆ dq_ref

MatNd* Rcs::ActionModelIK::dq_ref

protected

Definition at line 137 of file ActionModelIK.h.

◆ dx_des

MatNd* Rcs::ActionModelIK::dx_des

protected

Definition at line 135 of file ActionModelIK.h.

◆ fixedTasksValues

MatNd* Rcs::ActionModelIK::fixedTasksValues

private

Store the target values of all fixed tasks.

Definition at line 152 of file ActionModelIK.h.

◆ lambda

double Rcs::ActionModelIK::lambda = 1e-6

private

Regularization factor for the task space weighting.

Definition at line 150 of file ActionModelIK.h.

◆ solver

IkSolverRMR* Rcs::ActionModelIK::solver

private

IK solver (owned)

Definition at line 146 of file ActionModelIK.h.

The documentation for this class was generated from the following files:

src/cpp/core/action/ActionModelIK.h
src/cpp/core/action/ActionModelIK.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ActionModelIK() [1/2]

◆ ActionModelIK() [2/2]

◆ ~ActionModelIK()

Member Function Documentation

◆ addFixedTask()

◆ addTask()

◆ computeIK()

◆ computeIKVel()

◆ getController()

◆ getDesiredGraph()

◆ getNumActiveTasks()

◆ ikFromDX()

◆ reset()

◆ setDesiredGraph()

◆ setupCollisionModel()

Friends And Related Function Documentation

◆ AMIKGeneric

Member Data Documentation

◆ alpha

◆ collisionMdl

◆ controller

◆ desiredGraph

◆ dH

◆ dimFixedTasks

◆ dq_ref

◆ dx_des

◆ fixedTasksValues

◆ lambda

◆ solver