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

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
condition_number	Condition 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

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
condition_number	Condition 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

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
eigen_values	The eigen values for the translation part of JJ^T
eigen_vectors	The 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

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
eigen_values	The eigen values for the translation part of JJ^T
eigen_vectors	The 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

state	Complete kinematic state for the robot
joint_model_group	A pointer to the desired joint model group
manipulability_index	The 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

state	Complete kinematic state for the robot
group_name	The group name (e.g. "arm")
manipulability_index	The 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:

moveit_core/kinematics_metrics/include/moveit/kinematics_metrics/kinematics_metrics.h
moveit_core/kinematics_metrics/src/kinematics_metrics.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KinematicsMetrics()

Member Function Documentation

◆ getManipulability() [1/2]

◆ getManipulability() [2/2]

◆ getManipulabilityEllipsoid() [1/2]

◆ getManipulabilityEllipsoid() [2/2]

◆ getManipulabilityIndex() [1/2]

◆ getManipulabilityIndex() [2/2]

◆ getPenaltyMultiplier()

◆ setPenaltyMultiplier()

Member Data Documentation

◆ robot_model_