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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Protected Attributes | List of all members
kinematics_metrics::KinematicsMetrics Class Reference

Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability. More...

#include <kinematics_metrics.h>

Public Member Functions

 KinematicsMetrics (const moveit::core::RobotModelConstPtr &robot_model)
 Construct a KinematicsMetricss from a RobotModel.
 
bool getManipulabilityIndex (const moveit::core::RobotState &state, const std::string &group_name, double &manipulability_index, bool translation=false) const
 Get the manipulability for a given group at a given joint configuration.
 
bool getManipulabilityIndex (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *joint_model_group, double &manipulability_index, bool translation=false) const
 Get the manipulability for a given group at a given joint configuration.
 
bool getManipulabilityEllipsoid (const moveit::core::RobotState &state, const std::string &group_name, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const
 Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
 
bool getManipulabilityEllipsoid (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *joint_model_group, Eigen::MatrixXcd &eigen_values, Eigen::MatrixXcd &eigen_vectors) const
 Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.
 
bool getManipulability (const moveit::core::RobotState &state, const std::string &group_name, double &condition_number, bool translation=false) const
 Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
 
bool getManipulability (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *joint_model_group, double &condition_number, bool translation=false) const
 Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.
 
void setPenaltyMultiplier (double multiplier)
 
double getPenaltyMultiplier () const
 

Protected Attributes

moveit::core::RobotModelConstPtr robot_model_
 

Detailed Description

Compute different kinds of metrics for kinematics evaluation. Currently includes manipulability.

Definition at line 50 of file kinematics_metrics.h.

Constructor & Destructor Documentation

◆ KinematicsMetrics()

kinematics_metrics::KinematicsMetrics::KinematicsMetrics ( const moveit::core::RobotModelConstPtr &  robot_model)
inline

Construct a KinematicsMetricss from a RobotModel.

Definition at line 54 of file kinematics_metrics.h.

Member Function Documentation

◆ getManipulability() [1/2]

bool kinematics_metrics::KinematicsMetrics::getManipulability ( const moveit::core::RobotState state,
const moveit::core::JointModelGroup joint_model_group,
double &  condition_number,
bool  translation = false 
) const

Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.

Parameters
stateComplete kinematic state for the robot
joint_model_groupA pointer to the desired joint model group
condition_numberCondition number for JJ^T
Returns
False if the group was not found

Definition at line 228 of file kinematics_metrics.cpp.

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◆ getManipulability() [2/2]

bool kinematics_metrics::KinematicsMetrics::getManipulability ( const moveit::core::RobotState state,
const std::string &  group_name,
double &  condition_number,
bool  translation = false 
) const

Get the manipulability = sigma_min/sigma_max where sigma_min and sigma_max are the smallest and largest singular values of the Jacobian matrix J.

Parameters
stateComplete kinematic state for the robot
group_nameThe group name (e.g. "arm")
condition_numberCondition number for JJ^T
Returns
False if the group was not found

Definition at line 214 of file kinematics_metrics.cpp.

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◆ getManipulabilityEllipsoid() [1/2]

bool kinematics_metrics::KinematicsMetrics::getManipulabilityEllipsoid ( const moveit::core::RobotState state,
const moveit::core::JointModelGroup joint_model_group,
Eigen::MatrixXcd &  eigen_values,
Eigen::MatrixXcd &  eigen_vectors 
) const

Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.

Parameters
stateComplete kinematic state for the robot
joint_model_groupA pointer to the desired joint model group
eigen_valuesThe eigen values for the translation part of JJ^T
eigen_vectorsThe eigen vectors for the translation part of JJ^T
Returns
False if the group was not found

Definition at line 195 of file kinematics_metrics.cpp.

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◆ getManipulabilityEllipsoid() [2/2]

bool kinematics_metrics::KinematicsMetrics::getManipulabilityEllipsoid ( const moveit::core::RobotState state,
const std::string &  group_name,
Eigen::MatrixXcd &  eigen_values,
Eigen::MatrixXcd &  eigen_vectors 
) const

Get the (translation) manipulability ellipsoid for a given group at a given joint configuration.

Parameters
stateComplete kinematic state for the robot
group_nameThe group name (e.g. "arm")
eigen_valuesThe eigen values for the translation part of JJ^T
eigen_vectorsThe eigen vectors for the translation part of JJ^T
Returns
False if the group was not found

Definition at line 180 of file kinematics_metrics.cpp.

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◆ getManipulabilityIndex() [1/2]

bool kinematics_metrics::KinematicsMetrics::getManipulabilityIndex ( const moveit::core::RobotState state,
const moveit::core::JointModelGroup joint_model_group,
double &  manipulability_index,
bool  translation = false 
) const

Get the manipulability for a given group at a given joint configuration.

Parameters
stateComplete kinematic state for the robot
joint_model_groupA pointer to the desired joint model group
manipulability_indexThe computed manipulability = sqrt(det(JJ^T))
Returns
False if the group was not found

Definition at line 119 of file kinematics_metrics.cpp.

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◆ getManipulabilityIndex() [2/2]

bool kinematics_metrics::KinematicsMetrics::getManipulabilityIndex ( const moveit::core::RobotState state,
const std::string &  group_name,
double &  manipulability_index,
bool  translation = false 
) const

Get the manipulability for a given group at a given joint configuration.

Parameters
stateComplete kinematic state for the robot
group_nameThe group name (e.g. "arm")
manipulability_indexThe computed manipulability = sqrt(det(JJ^T))
Returns
False if the group was not found

Definition at line 105 of file kinematics_metrics.cpp.

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◆ getPenaltyMultiplier()

double kinematics_metrics::KinematicsMetrics::getPenaltyMultiplier ( ) const
inline

Definition at line 132 of file kinematics_metrics.h.

◆ setPenaltyMultiplier()

void kinematics_metrics::KinematicsMetrics::setPenaltyMultiplier ( double  multiplier)
inline

Definition at line 127 of file kinematics_metrics.h.

Member Data Documentation

◆ robot_model_

moveit::core::RobotModelConstPtr kinematics_metrics::KinematicsMetrics::robot_model_
protected

Definition at line 138 of file kinematics_metrics.h.


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