iCub-main
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
iCub::iKin::iKinCtrl Class Referenceabstract

Abstract class for inverting chain's kinematics. More...

#include <iKinInv.h>

+ Inheritance diagram for iCub::iKin::iKinCtrl:

Public Member Functions

 iKinCtrl (iKinChain &c, unsigned int _ctrlPose)
 Constructor. More...
 
virtual void setChainConstraints (bool _constrained)
 Enables/Disables joint angles constraints. More...
 
virtual yarp::sig::Vector iterate (yarp::sig::Vector &xd, const unsigned int verbose=0)=0
 Executes one iteration of the control algorithm. More...
 
virtual yarp::sig::Vector solve (yarp::sig::Vector &xd, const double tol_size=IKINCTRL_DISABLED, const int max_iter=IKINCTRL_DISABLED, const unsigned int verbose=0, int *exit_code=NULL, bool *exhalt=NULL)
 Iterates the control algorithm trying to converge on the target. More...
 
virtual bool test_convergence (const double tol_size)=0
 Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance. More...
 
virtual void restart (const yarp::sig::Vector &q0)
 Reinitializes the algorithm's internal state and resets the starting point. More...
 
virtual std::string getAlgoName ()=0
 Returns the algorithm's name. More...
 
void switchWatchDog (bool sw)
 Switch on/off the watchDog mechanism to trigger deadLocks. More...
 
virtual void setInTargetTol (double tol_x)
 Sets tolerance for in-target check (5e-3 by default). More...
 
virtual double getInTargetTol () const
 Returns tolerance for in-target check. More...
 
virtual void setWatchDogTol (double tol_q)
 Sets tolerance for watchDog check (1e-4 by default). More...
 
virtual double getWatchDogTol () const
 Returns tolerance for watchDog check. More...
 
virtual void setWatchDogMaxIter (int maxIter)
 Sets maximum number of iterations to trigger the watchDog (200 by default). More...
 
virtual int getWatchDogMaxIter () const
 Returns maximum number of iterations to trigger the watchDog. More...
 
virtual bool isInTarget ()
 Checks if the End-Effector is in target. More...
 
int get_state () const
 Returns the algorithm's state. More...
 
void set_ctrlPose (unsigned int _ctrlPose)
 Sets the state of Pose control settings. More...
 
unsigned int get_ctrlPose () const
 Returns the state of Pose control settings. More...
 
unsigned int get_dim () const
 Returns the number of Chain DOF. More...
 
unsigned int get_iter () const
 Returns the number of performed iterations. More...
 
virtual yarp::sig::Vector get_x () const
 Returns the actual cartesian position of the End-Effector. More...
 
virtual yarp::sig::Vector get_e () const
 Returns the actual cartesian position error. More...
 
virtual void set_q (const yarp::sig::Vector &q0)
 Sets the joint angles values. More...
 
virtual yarp::sig::Vector get_q () const
 Returns the actual joint angles values. More...
 
virtual yarp::sig::Vector get_grad () const
 Returns the actual gradient. More...
 
virtual yarp::sig::Matrix get_J () const
 Returns the actual Jacobian used in computation. More...
 
virtual double dist () const
 Returns the actual distance from the target in cartesian space (euclidean norm is used). More...
 
virtual ~iKinCtrl ()
 Default destructor. More...
 

Protected Member Functions

virtual yarp::sig::Vector calc_e ()
 Computes the error according to the current controller settings (complete pose/translational/rotational part). More...
 
virtual void update_state ()
 Updates the control state. More...
 
virtual void watchDog ()
 Handles the watchDog. More...
 
virtual yarp::sig::Vector checkVelocity (const yarp::sig::Vector &_qdot, double _Ts)
 Checks each joint velocity and sets it to zero if it steers the joint out of range. More...
 
virtual void inTargetFcn ()=0
 Method called whenever in target. More...
 
virtual void deadLockRecoveryFcn ()=0
 Method called whenever the watchDog is triggered. More...
 
virtual void printIter (const unsigned int verbose=0)=0
 Dumps warning or status messages. More...
 
unsigned int printHandling (const unsigned int verbose=0)
 Method to be called within the printIter routine inherited by children in order to handle the highest word of verbose integer. More...
 

Protected Attributes

iKinChainchain
 
unsigned int ctrlPose
 
yarp::sig::Vector x_set
 
yarp::sig::Vector x
 
yarp::sig::Vector e
 
yarp::sig::Vector q
 
yarp::sig::Matrix J
 
yarp::sig::Matrix Jt
 
yarp::sig::Matrix pinvJ
 
yarp::sig::Vector grad
 
yarp::sig::Vector q_old
 
double inTargetTol
 
double watchDogTol
 
unsigned int dim
 
unsigned int iter
 
int state
 
bool watchDogOn
 
int watchDogCnt
 
int watchDogMaxIter
 

Detailed Description

Abstract class for inverting chain's kinematics.

Definition at line 64 of file iKinInv.h.

Constructor & Destructor Documentation

◆ iKinCtrl()

iKinCtrl::iKinCtrl ( iKinChain c,
unsigned int  _ctrlPose 
)

Constructor.

Parameters
cis the Chain object on which the control operates. Do not change Chain DOF from this point onwards!!
_ctrlPoseone of the following: IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled. IKINCTRL_POSE_ANG => rotational part of pose controlled.

Definition at line 34 of file iKinInv.cpp.

◆ ~iKinCtrl()

virtual iCub::iKin::iKinCtrl::~iKinCtrl ( )
inlinevirtual

Default destructor.

Definition at line 399 of file iKinInv.h.

Member Function Documentation

◆ calc_e()

Vector iKinCtrl::calc_e ( )
protectedvirtual

Computes the error according to the current controller settings (complete pose/translational/rotational part).

Note that x must be previously set.

Returns
the error.

Definition at line 88 of file iKinInv.cpp.

◆ checkVelocity()

Vector iKinCtrl::checkVelocity ( const yarp::sig::Vector &  _qdot,
double  _Ts 
)
protectedvirtual

Checks each joint velocity and sets it to zero if it steers the joint out of range.

Parameters
_qdotis the joint velocities vector to be checked.
_Tsis the joint velocities sample time.
Returns
the new velocity.

Definition at line 200 of file iKinInv.cpp.

◆ deadLockRecoveryFcn()

virtual void iCub::iKin::iKinCtrl::deadLockRecoveryFcn ( )
protectedpure virtual

Method called whenever the watchDog is triggered.

Put here the code to recover from deadLock. Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, and iCub::iKin::SteepCtrl.

◆ dist()

virtual double iCub::iKin::iKinCtrl::dist ( ) const
inlinevirtual

Returns the actual distance from the target in cartesian space (euclidean norm is used).

Returns
actual distance from the target.

Definition at line 394 of file iKinInv.h.

◆ get_ctrlPose()

unsigned int iCub::iKin::iKinCtrl::get_ctrlPose ( ) const
inline

Returns the state of Pose control settings.

Returns
Pose control settings.

Definition at line 339 of file iKinInv.h.

◆ get_dim()

unsigned int iCub::iKin::iKinCtrl::get_dim ( ) const
inline

Returns the number of Chain DOF.

Returns
number of Chain DOF.

Definition at line 345 of file iKinInv.h.

◆ get_e()

virtual yarp::sig::Vector iCub::iKin::iKinCtrl::get_e ( ) const
inlinevirtual

Returns the actual cartesian position error.

Returns
actual cartesian position error.

Definition at line 363 of file iKinInv.h.

◆ get_grad()

virtual yarp::sig::Vector iCub::iKin::iKinCtrl::get_grad ( ) const
inlinevirtual

Returns the actual gradient.

Returns
actual gradient.

Definition at line 381 of file iKinInv.h.

◆ get_iter()

unsigned int iCub::iKin::iKinCtrl::get_iter ( ) const
inline

Returns the number of performed iterations.

Returns
number of performed iterations.

Definition at line 351 of file iKinInv.h.

◆ get_J()

virtual yarp::sig::Matrix iCub::iKin::iKinCtrl::get_J ( ) const
inlinevirtual

Returns the actual Jacobian used in computation.

Returns
actual Jacobian.

Definition at line 387 of file iKinInv.h.

◆ get_q()

virtual yarp::sig::Vector iCub::iKin::iKinCtrl::get_q ( ) const
inlinevirtual

Returns the actual joint angles values.

Returns
actual joint angles values.

Definition at line 375 of file iKinInv.h.

◆ get_state()

int iCub::iKin::iKinCtrl::get_state ( ) const
inline

Returns the algorithm's state.

Returns
algorithm's state: IKINCTRL_STATE_RUNNING IKINCTRL_STATE_INTARGET IKINCTRL_STATE_DEADLOCK

Definition at line 324 of file iKinInv.h.

◆ get_x()

virtual yarp::sig::Vector iCub::iKin::iKinCtrl::get_x ( ) const
inlinevirtual

Returns the actual cartesian position of the End-Effector.

Returns
actual cartesian position of the End-Effector.

Definition at line 357 of file iKinInv.h.

◆ getAlgoName()

virtual std::string iCub::iKin::iKinCtrl::getAlgoName ( )
pure virtual

Returns the algorithm's name.

Returns
algorithm name as string. Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, iCub::iKin::VarKpSteepCtrl, and iCub::iKin::SteepCtrl.

◆ getInTargetTol()

virtual double iCub::iKin::iKinCtrl::getInTargetTol ( ) const
inlinevirtual

Returns tolerance for in-target check.

Returns
tolerance

Definition at line 284 of file iKinInv.h.

◆ getWatchDogMaxIter()

virtual int iCub::iKin::iKinCtrl::getWatchDogMaxIter ( ) const
inlinevirtual

Returns maximum number of iterations to trigger the watchDog.

Returns
iterations limit.

Definition at line 309 of file iKinInv.h.

◆ getWatchDogTol()

virtual double iCub::iKin::iKinCtrl::getWatchDogTol ( ) const
inlinevirtual

Returns tolerance for watchDog check.

Returns
tolerance

Definition at line 296 of file iKinInv.h.

◆ inTargetFcn()

virtual void iCub::iKin::iKinCtrl::inTargetFcn ( )
protectedpure virtual

Method called whenever in target.

Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, iCub::iKin::VarKpSteepCtrl, and iCub::iKin::SteepCtrl.

◆ isInTarget()

virtual bool iCub::iKin::iKinCtrl::isInTarget ( )
inlinevirtual

Checks if the End-Effector is in target.

Returns
true if in target.

Definition at line 315 of file iKinInv.h.

◆ iterate()

virtual yarp::sig::Vector iCub::iKin::iKinCtrl::iterate ( yarp::sig::Vector &  xd,
const unsigned int  verbose = 0 
)
pure virtual

Executes one iteration of the control algorithm.

Parameters
xdis the End-Effector target Pose to be tracked.
verboseis a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Returns
current estimation of joints configuration. Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, and iCub::iKin::SteepCtrl.

◆ printHandling()

unsigned int iKinCtrl::printHandling ( const unsigned int  verbose = 0)
protected

Method to be called within the printIter routine inherited by children in order to handle the highest word of verbose integer.

Definition at line 159 of file iKinInv.cpp.

◆ printIter()

virtual void iCub::iKin::iKinCtrl::printIter ( const unsigned int  verbose = 0)
protectedpure virtual

Dumps warning or status messages.

Parameters
verboseis a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Note
Angles are dumperd as degrees. Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, and iCub::iKin::SteepCtrl.

◆ restart()

void iKinCtrl::restart ( const yarp::sig::Vector &  q0)
virtual

Reinitializes the algorithm's internal state and resets the starting point.

Parameters
q0is the new starting point.

Reimplemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, iCub::iKin::VarKpSteepCtrl, and iCub::iKin::SteepCtrl.

Definition at line 191 of file iKinInv.cpp.

◆ set_ctrlPose()

void iKinCtrl::set_ctrlPose ( unsigned int  _ctrlPose)

Sets the state of Pose control settings.

Parameters
_ctrlPoseone of the following: IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled. IKINCTRL_POSE_ANG => rotational part of pose controlled.

Definition at line 64 of file iKinInv.cpp.

◆ set_q()

void iKinCtrl::set_q ( const yarp::sig::Vector &  q0)
virtual

Sets the joint angles values.

Parameters
q0is the joint angles vector.

Reimplemented in iCub::iKin::MultiRefMinJerkCtrl.

Definition at line 74 of file iKinInv.cpp.

◆ setChainConstraints()

virtual void iCub::iKin::iKinCtrl::setChainConstraints ( bool  _constrained)
inlinevirtual

Enables/Disables joint angles constraints.

Parameters
_constrainedif true then constraints are applied.

Reimplemented in iCub::iKin::LMCtrl, and iCub::iKin::SteepCtrl.

Definition at line 183 of file iKinInv.h.

◆ setInTargetTol()

virtual void iCub::iKin::iKinCtrl::setInTargetTol ( double  tol_x)
inlinevirtual

Sets tolerance for in-target check (5e-3 by default).

Parameters
tol_xis the tolerance

Definition at line 278 of file iKinInv.h.

◆ setWatchDogMaxIter()

virtual void iCub::iKin::iKinCtrl::setWatchDogMaxIter ( int  maxIter)
inlinevirtual

Sets maximum number of iterations to trigger the watchDog (200 by default).

Parameters
maxIteris the iterations limit.

Definition at line 303 of file iKinInv.h.

◆ setWatchDogTol()

virtual void iCub::iKin::iKinCtrl::setWatchDogTol ( double  tol_q)
inlinevirtual

Sets tolerance for watchDog check (1e-4 by default).

Parameters
tol_qis the tolerance

Definition at line 290 of file iKinInv.h.

◆ solve()

Vector iKinCtrl::solve ( yarp::sig::Vector &  xd,
const double  tol_size = IKINCTRL_DISABLED,
const int  max_iter = IKINCTRL_DISABLED,
const unsigned int  verbose = 0,
int *  exit_code = NULL,
bool *  exhalt = NULL 
)
virtual

Iterates the control algorithm trying to converge on the target.

Parameters
xdis the End-Effector target Pose to be tracked.
tol_sizeexits if test_convergence(tol_size) is true (tol_size<0 disables this check, default).
max_iterexits if iter>=max_iter (max_iter<0 disables this check, default).
verboseis a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
exit_codestores the exit code (NULL by default). Test for one of this: IKINCTRL_RET_TOLX IKINCTRL_RET_TOLSIZE IKINCTRL_RET_TOLQ IKINCTRL_RET_MAXITER IKINCTRL_RET_EXHALT
exhaltchecks for an external request to exit (NULL by default).
See also
setInTargetTol
getInTargetTol

Reimplemented in iCub::iKin::MultiRefMinJerkCtrl.

Definition at line 214 of file iKinInv.cpp.

◆ switchWatchDog()

void iCub::iKin::iKinCtrl::switchWatchDog ( bool  sw)
inline

Switch on/off the watchDog mechanism to trigger deadLocks.

A deadLock is triggered whenerver norm(q(k)-q(k-1))<tol_q for a specified number of iterations.

Parameters
swcontrol the watchDog activation.

Definition at line 272 of file iKinInv.h.

◆ test_convergence()

virtual bool iCub::iKin::iKinCtrl::test_convergence ( const double  tol_size)
pure virtual

Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance.

Parameters
tol_sizeis tolerance to compare to. Shall be implemented.

Implemented in iCub::iKin::MultiRefMinJerkCtrl, iCub::iKin::LMCtrl, and iCub::iKin::SteepCtrl.

◆ update_state()

void iKinCtrl::update_state ( )
protectedvirtual

Updates the control state.

Definition at line 126 of file iKinInv.cpp.

◆ watchDog()

void iKinCtrl::watchDog ( )
protectedvirtual

Handles the watchDog.

Definition at line 172 of file iKinInv.cpp.

Member Data Documentation

◆ chain

iKinChain& iCub::iKin::iKinCtrl::chain
protected

Definition at line 75 of file iKinInv.h.

◆ ctrlPose

unsigned int iCub::iKin::iKinCtrl::ctrlPose
protected

Definition at line 76 of file iKinInv.h.

◆ dim

unsigned int iCub::iKin::iKinCtrl::dim
protected

Definition at line 92 of file iKinInv.h.

◆ e

yarp::sig::Vector iCub::iKin::iKinCtrl::e
protected

Definition at line 80 of file iKinInv.h.

◆ grad

yarp::sig::Vector iCub::iKin::iKinCtrl::grad
protected

Definition at line 85 of file iKinInv.h.

◆ inTargetTol

double iCub::iKin::iKinCtrl::inTargetTol
protected

Definition at line 89 of file iKinInv.h.

◆ iter

unsigned int iCub::iKin::iKinCtrl::iter
protected

Definition at line 93 of file iKinInv.h.

◆ J

yarp::sig::Matrix iCub::iKin::iKinCtrl::J
protected

Definition at line 82 of file iKinInv.h.

◆ Jt

yarp::sig::Matrix iCub::iKin::iKinCtrl::Jt
protected

Definition at line 83 of file iKinInv.h.

◆ pinvJ

yarp::sig::Matrix iCub::iKin::iKinCtrl::pinvJ
protected

Definition at line 84 of file iKinInv.h.

◆ q

yarp::sig::Vector iCub::iKin::iKinCtrl::q
protected

Definition at line 81 of file iKinInv.h.

◆ q_old

yarp::sig::Vector iCub::iKin::iKinCtrl::q_old
protected

Definition at line 87 of file iKinInv.h.

◆ state

int iCub::iKin::iKinCtrl::state
protected

Definition at line 95 of file iKinInv.h.

◆ watchDogCnt

int iCub::iKin::iKinCtrl::watchDogCnt
protected

Definition at line 98 of file iKinInv.h.

◆ watchDogMaxIter

int iCub::iKin::iKinCtrl::watchDogMaxIter
protected

Definition at line 99 of file iKinInv.h.

◆ watchDogOn

bool iCub::iKin::iKinCtrl::watchDogOn
protected

Definition at line 97 of file iKinInv.h.

◆ watchDogTol

double iCub::iKin::iKinCtrl::watchDogTol
protected

Definition at line 90 of file iKinInv.h.

◆ x

yarp::sig::Vector iCub::iKin::iKinCtrl::x
protected

Definition at line 79 of file iKinInv.h.

◆ x_set

yarp::sig::Vector iCub::iKin::iKinCtrl::x_set
protected

Definition at line 78 of file iKinInv.h.


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