A cache of inverse kinematic solutions. More...

#include <cached_ik_kinematics_plugin.h>

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Classes
struct	Options

struct	Pose
	class to represent end effector pose More...

Public Types
using	IKEntry = std::pair< std::vector< Pose >, std::vector< double > >

Public Member Functions
	IKCache ()

	~IKCache ()

	IKCache (const IKCache &)=delete

const IKEntry &	getBestApproximateIKSolution (const Pose &pose) const

const IKEntry &	getBestApproximateIKSolution (const std::vector< Pose > &poses) const

void	initializeCache (const std::string &robot_id, const std::string &group_name, const std::string &cache_name, const unsigned int num_joints, const Options &opts=Options())

void	updateCache (const IKEntry &nearest, const Pose &pose, const std::vector< double > &config) const

void	updateCache (const IKEntry &nearest, const std::vector< Pose > &poses, const std::vector< double > &config) const

void	verifyCache (kdl_kinematics_plugin::KDLKinematicsPlugin &fk) const

Protected Member Functions
double	configDistance2 (const std::vector< double > &config1, const std::vector< double > &config2) const

void	saveCache () const

Protected Attributes
unsigned int	num_joints_

double	min_pose_distance_

double	min_config_distance2_

unsigned int	max_cache_size_

std::filesystem::path	cache_file_name_

std::vector< IKEntry >	ik_cache_

NearestNeighborsGNAT< IKEntry * >	ik_nn_

unsigned int	last_saved_cache_size_ { 0 }

std::mutex	lock_

Detailed Description

A cache of inverse kinematic solutions.

Definition at line 56 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

◆ IKEntry

using cached_ik_kinematics_plugin::IKCache::IKEntry = std::pair<std::vector<Pose>, std::vector<double> >

the IK cache entries are simply a pair formed by a vector of poses (one for each end effector) and a configuration that achieves those poses

Definition at line 92 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ IKCache() [1/2]

cached_ik_kinematics_plugin::IKCache::IKCache ( )

Definition at line 53 of file ik_cache.cpp.

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◆ ~IKCache()

cached_ik_kinematics_plugin::IKCache::~IKCache ( )

Definition at line 64 of file ik_cache.cpp.

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◆ IKCache() [2/2]

cached_ik_kinematics_plugin::IKCache::IKCache ( const IKCache & )

delete

Member Function Documentation

◆ configDistance2()

double cached_ik_kinematics_plugin::IKCache::configDistance2	(	const std::vector< double > &	config1,
		const std::vector< double > &	config2
	)		const

protected

compute the distance between two joint configurations

Definition at line 148 of file ik_cache.cpp.

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◆ getBestApproximateIKSolution() [1/2]

const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCache::getBestApproximateIKSolution ( const Pose & pose ) const

get the entry from the IK cache that best matches a given pose

Definition at line 159 of file ik_cache.cpp.

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◆ getBestApproximateIKSolution() [2/2]

const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCache::getBestApproximateIKSolution ( const std::vector< Pose > & poses ) const

get the entry from the IK cache that best matches a given vector of poses

Definition at line 170 of file ik_cache.cpp.

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◆ initializeCache()

void cached_ik_kinematics_plugin::IKCache::initializeCache	(	const std::string &	robot_id,
		const std::string &	group_name,
		const std::string &	cache_name,
		const unsigned int	num_joints,
		const Options &	opts = `Options()`
	)

initialize cache, read from disk if found

Definition at line 70 of file ik_cache.cpp.

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◆ saveCache()

void cached_ik_kinematics_plugin::IKCache::saveCache ( ) const

protected

save current state of cache to disk

Definition at line 224 of file ik_cache.cpp.

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◆ updateCache() [1/2]

void cached_ik_kinematics_plugin::IKCache::updateCache	(	const IKEntry &	nearest,
		const Pose &	pose,
		const std::vector< double > &	config
	)		const

insert (pose,config) as an entry if it's different enough from the most similar cache entry

Definition at line 181 of file ik_cache.cpp.

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◆ updateCache() [2/2]

void cached_ik_kinematics_plugin::IKCache::updateCache	(	const IKEntry &	nearest,
		const std::vector< Pose > &	poses,
		const std::vector< double > &	config
	)		const

insert (pose,config) as an entry if it's different enough from the most similar cache entry

Definition at line 194 of file ik_cache.cpp.

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◆ verifyCache()

void cached_ik_kinematics_plugin::IKCache::verifyCache ( kdl_kinematics_plugin::KDLKinematicsPlugin & fk ) const

verify with forward kinematics that the cache entries are correct

Definition at line 260 of file ik_cache.cpp.

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Member Data Documentation

◆ cache_file_name_

std::filesystem::path cached_ik_kinematics_plugin::IKCache::cache_file_name_

protected

file name for loading / saving cache

Definition at line 134 of file cached_ik_kinematics_plugin.h.

◆ ik_cache_

std::vector<IKEntry> cached_ik_kinematics_plugin::IKCache::ik_cache_

mutableprotected

the IK methods are declared const in the base class, but the wrapped methods need to modify the cache, so the next four members are mutable cache of IK solutions

Definition at line 142 of file cached_ik_kinematics_plugin.h.

◆ ik_nn_

NearestNeighborsGNAT<IKEntry*> cached_ik_kinematics_plugin::IKCache::ik_nn_

mutableprotected

nearest neighbor data structure over IK cache entries

Definition at line 144 of file cached_ik_kinematics_plugin.h.

◆ last_saved_cache_size_

unsigned int cached_ik_kinematics_plugin::IKCache::last_saved_cache_size_ { 0 }

mutableprotected

size of the cache when it was last saved

Definition at line 146 of file cached_ik_kinematics_plugin.h.

◆ lock_

std::mutex cached_ik_kinematics_plugin::IKCache::lock_

mutableprotected

mutex for changing IK cache

Definition at line 148 of file cached_ik_kinematics_plugin.h.

◆ max_cache_size_

unsigned int cached_ik_kinematics_plugin::IKCache::max_cache_size_

protected

maximum size of the cache

Definition at line 132 of file cached_ik_kinematics_plugin.h.

◆ min_config_distance2_

double cached_ik_kinematics_plugin::IKCache::min_config_distance2_

protected

... or the configurations are at least minConfigDistance2_^.5 apart.

Definition at line 130 of file cached_ik_kinematics_plugin.h.

◆ min_pose_distance_

double cached_ik_kinematics_plugin::IKCache::min_pose_distance_

protected

for all cache entries, the poses are at least minPoseDistance_ apart ...

Definition at line 128 of file cached_ik_kinematics_plugin.h.

◆ num_joints_

unsigned int cached_ik_kinematics_plugin::IKCache::num_joints_

protected

number of joints in the system

Definition at line 125 of file cached_ik_kinematics_plugin.h.

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

moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
moveit_kinematics/cached_ik_kinematics_plugin/src/ik_cache.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ IKEntry

Constructor & Destructor Documentation

◆ IKCache() [1/2]

◆ ~IKCache()

◆ IKCache() [2/2]

Member Function Documentation

◆ configDistance2()

◆ getBestApproximateIKSolution() [1/2]

◆ getBestApproximateIKSolution() [2/2]

◆ initializeCache()

◆ saveCache()

◆ updateCache() [1/2]

◆ updateCache() [2/2]

◆ verifyCache()

Member Data Documentation

◆ cache_file_name_

◆ ik_cache_

◆ ik_nn_

◆ last_saved_cache_size_

◆ lock_

◆ max_cache_size_

◆ min_config_distance2_

◆ min_pose_distance_

◆ num_joints_