amino
1.0-beta2
Lightweight Robot Utility Library
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Scenegraph kinematics. More...
#include "scenegraph.h"
Go to the source code of this file.
Typedefs | |
typedef int | aa_rx_ik_fun(void *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q) |
General type for an IK solver function. | |
Functions | |
AA_API struct aa_rx_ksol_opts * | aa_rx_ksol_opts_create () |
Create options struct for kinematic solver. | |
AA_API void | aa_rx_ksol_opts_destroy (struct aa_rx_ksol_opts *opts) |
Destroy options struct for kinematic solver. | |
AA_API void | aa_rx_ksol_opts_set_dt (struct aa_rx_ksol_opts *opts, double dt) |
Set integration step. | |
AA_API void | aa_rx_ksol_opts_set_tol_angle (struct aa_rx_ksol_opts *opts, double tol) |
Set angular tolerance. | |
AA_API void | aa_rx_ksol_opts_set_tol_trans (struct aa_rx_ksol_opts *opts, double tol) |
Set translational tolerance. | |
AA_API void | aa_rx_ksol_opts_set_tol_angle_svd (struct aa_rx_ksol_opts *opts, double tol) |
Set angular tolerance to switch to SVD. | |
AA_API void | aa_rx_ksol_opts_set_tol_trans_svd (struct aa_rx_ksol_opts *opts, double tol) |
Set translational tolerance to switch to SVD. | |
AA_API void | aa_rx_ksol_opts_set_tol_dq (struct aa_rx_ksol_opts *opts, double tol) |
Set tolerance on joint motion. | |
AA_API void | aa_rx_ksol_opts_set_tol_k_dls (struct aa_rx_ksol_opts *opts, double s2min) |
Set damping constant for damped least squares (LU decompisition). | |
AA_API void | aa_rx_ksol_opts_set_tol_s2min (struct aa_rx_ksol_opts *opts, double s2min) |
Set minimum square singular value for damped least squares (SVD). | |
AA_API void | aa_rx_ksol_opts_set_gain_angle (struct aa_rx_ksol_opts *opts, double k) |
Set angular gain. | |
AA_API void | aa_rx_ksol_opts_set_gain_trans (struct aa_rx_ksol_opts *opts, double k) |
Set translational gain. | |
AA_API void | aa_rx_ksol_opts_set_max_iterations (struct aa_rx_ksol_opts *opts, size_t n) |
Set maximum interations. | |
AA_API void | aa_rx_ksol_opts_set_frame (struct aa_rx_ksol_opts *opts, aa_rx_frame_id frame) |
Set frame to solve. | |
AA_API void | aa_rx_ksol_opts_take_config (struct aa_rx_ksol_opts *opts, size_t n_q, double *q, enum aa_mem_refop refop) |
Set a reference configuration. | |
AA_API void | aa_rx_ksol_opts_take_gain_config (struct aa_rx_ksol_opts *opts, size_t n_q, double *q, enum aa_mem_refop refop) |
Set a configuration gain (nullspace). | |
AA_API void | aa_rx_ksol_opts_take_seed (struct aa_rx_ksol_opts *opts, size_t n_q, double *q_all, enum aa_mem_refop refop) |
Set a configuration seed (initial) value. | |
AA_API void | aa_rx_ksol_opts_center_seed (struct aa_rx_ksol_opts *opts, const struct aa_rx_sg_sub *ssg) |
Set the configuration seed (initial) to be the center position. | |
AA_API void | aa_rx_ksol_opts_center_configs (struct aa_rx_ksol_opts *opts, const struct aa_rx_sg_sub *ssg, double gain) |
Convenience function to set IK options to center joints. | |
AA_API int | aa_rx_ik_jac_x2dq (const struct aa_rx_ksol_opts *opts, size_t n_q, const double *AA_RESTRICT q_act, const double *AA_RESTRICT E_act, const double E_ref[7], const double dx_ref[6], const double *J, double *AA_RESTRICT dq) |
AA_API struct aa_rx_ik_jac_cx * | aa_rx_ik_jac_cx_create (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ksol_opts *opts) |
Create a Jacobian IK solver. | |
AA_API void | aa_rx_ik_jac_cx_destroy (struct aa_rx_ik_jac_cx *cx) |
Destroy a Jacobian IK solver. | |
AA_API int | aa_rx_ik_jac_solve (const struct aa_rx_ik_jac_cx *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q) |
Solve the Jacobian IK. | |
AA_API int | aa_rx_ik_jac_fun (void *context, size_t n_tf, const double *TF, size_t ld_TF, size_t n_q, double *q) |
Convenience function for Jacobian IK solver. | |
Scenegraph kinematics.
Definition in file scene_kin.h.