This is the main Class: EndoRob that you can use to control your own weird looking robot... More...

#include <endorob.h>

Public Member Functions
	Endorob ()
	Default constructor. More...

	Endorob (const Solver_type &solver_type)
	Advanced constructor for full-body control. More...

	~Endorob ()
	Default destructor. More...

void	set_DH_convention (const DH_type &convention)
	Set DH convention: modified or standard. More...

void	save_DH (std::string filename)
	Save DH entries to file. More...

void	load_DH (std::string filename)
	Load DH entries from file. More...

void	add_DH_entry (const double &a, const double &alpha, const double &d, const double &theta, const Joint_type &type, const double &a_bis=0, const double &theta_bis=0, const uint &flex=0)
	Setup robot DH table one entry at a time (Attention, modified DH convention by default) More...

void	set_joint_limits (const double &min, const double &max)
	Set joint limits for current joint, radians for revolute or rolling joints, meters for prismatic. More...

void	set_flex_resolution (const uint &res)
	Setup flex resolution for continuum robots: sampling/division into smaller revolute joints. More...

void	set_flex_gradient (const Vec &vec)
	Setup flex gradient for continuum robots; used if the material is not uniformely bending. More...

void	set_solver_type (Solver_type solver, const double &lambda=1)
	Set iterative solver type. More...

void	set_tool_frame (const Mat4d &T)
	Set tool frame. More...

void	set_base_frame (const Mat4d &T)
	Set base frame. More...

void	set_mask (const Vec &mask)
	Set DOF reduction mask if your robot/instrument has less than 6 DOF. The mask is a 6x1 vector x,y,z,orientation 1, orientation 2, orientation 3. Set to 1 for active and to 0 for disabled. More...

void	set_joint_coupling (const Vec &coupling)
	Set joint coupling if multiple joint are moving together (coupled) whether for mechanical coupling or flexible joint modelling (equally distributed) More...

void	initialize ()
	Once all parameters set, initialize robot and start solver. More...

unsigned	dof ()
	Get robot number of DOF (different to the number of joints if coupling is used) More...

unsigned	joints ()
	Get robot number of joints (different to the number of DOF if coupling is used) More...

Mat4d	get_forward_kinematics ()
	Get the tip pose / homogeneous matrix (forward kinematics) More...

Mat4d	get_tip_pose ()
	Get the tip pose / homogeneous matrix (forward kinematics) More...

Vec3d	get_tip_position ()
	Get the tip position / 3x1 vector (forward kinematics) More...

Mat4d	get_forward_kinematics (const Vec &q)
	Get the forward kinematics for a specific joint vector q. More...

Mat	get_Jacobian ()
	Get the Jacobian matrix of the robot in the current configuration. More...

Mat	get_coupling_matrix (void)
	Get the joint coupling matrix. More...

void	set_solver_target (const Mat4d &T)
	Set solver's target 4x4 homegenous matrix. More...

void	set_solver_body_target (const Vec &vec)
	Set solver's full body target (for full body control) More...

void	set_solver_body_target (const Vec &vec, const Mat4d &T)
	Set solver's full body target (for full body control) and desired tip transform. More...

Vec	get_instant_IK_solution ()
	Request for solver's current solution,if solver is still running, the solution may not be valid. More...

Vec	get_IK_solution ()
	Request for solver's converged solution, whether target is reached or not. More...

void	set_q_vec (const Vec &q)
	Set robot's joint vector. More...

void	reset_q_vec ()
	Reset robot to startup state. More...

Vec	get_random_q_vec ()
	Get random feasible joint vector. More...

Vec	get_body_vec ()
	Get full-body vector. More...

Vec	get_body_vec (const Vec &q)
	Get full-body vector for specific joint vector. More...

unsigned	get_iteration ()
	Get number of iterations. More...

double	get_error_norm ()
	Get the error norm between the desired and current position. More...

double	get_RMS_error ()
	Get the RMS per joint error between the desired and current position. More...

Vec	get_error_vector ()
	Get the current error between the desired and current position. More...

Vec	get_q_vec ()
	Get joint vector. More...

Vec	get_full_q_vec ()
	Get complete joint vector before coupling. More...

Vec	get_desired_curve ()
	Get desired curve. More...

void	set_desired_curve (const Vec &curve)
	Set desired curve. More...

void	set_desired_curve (const Vec &curve, const Mat4d &mat)
	Set desired curve and tip transform. More...

Vec	solve_with_tentacle (Mat T_)

Vec	follow_the_leader (const std::vector< Vec3d, Eigen::aligned_allocator< Vec3d >> path, const Vec &desired_shape, const double &translation)

Vec	follow_the_leader_2 (const std::vector< Vec3d, Eigen::aligned_allocator< Vec3d >> path, const Vec &desired_shape, const double &translation)

Vec	follow_the_leader_3 (Snake_Path path, const Vec &desired_shape, const double &translation)

Virtual_Snake	follow_the_leader_weighted (Snake_Path path, const Virtual_Snake &desired_shape, const double &translation)

std::vector< DH_table_entry >	get_DH_table ()
	Get the full DH table of the robot. More...

Mat	get_full_kinematics ()
	Get the full and complete forward kinematics as a nx4 matrix of homogeneous matrix for each link. More...

Vec	set_vec_relative_to_base (const Vec &vec)

Mat	get_snake_base ()

void	set_solver_weight_mat (const uint &index, const double &val)
	Set the solver's weights value for a desired joint at a specific index. More...

void	set_solver_weight_mat (const Vec &vec)

void	set_solver_weight_vec (const uint &index, const double &val)

void	set_robot_reference_frame (const Mat4d &T)

void	enforce_joint_limits_mode (void)
	Enforce joint limit mode. In this mode the joint cannot exceed their joint limit. More...

void	set_faulty_joint (const uint &joint, const double &val)
	Set a joint as faulty for Jacobian Compensation. More...

void	disable_fault_tolerance ()
	Disable joint fault tolerance. More...

Vec	get_faulty_q ()

Protected Member Functions
void	calculate_full_forward_kinematics ()

Mat	calculate_full_forward_kinematics (const Vec &q)

void	calculate_jacobian ()

void	calculate_full_body_jacobian ()

void	calculate_full_mobile_body_jacobian ()

void	threaded_solver (int a, int b)

void	threaded_solver_2 (int a, int b)

void	get_error (const Mat4d &Td, const Mat4d &Te)

Vec	get_full_body_error ()

void	get_full_mobile_body_error ()

Vec3d	get_position_error (const Mat4d &Td, const Mat4d &Te)

Vec3d	get_orientation_error (const Mat4d &Td, const Mat4d &Te)

bool	solver_has_converged ()

bool	solver_has_ended ()

Mat4d	base_transformation_matrix (DH_table_entry DH, double q)

void	calculate_pseudo_inverse ()

void	calculate_pseudo_inverse_masked ()

void	calculate_pseudo_inverse_DLS ()

Vec	zero_thresholding (const Vec &q_vec, const double &val=M_PI/180/20)

Vec	angle_modulus (const Vec &q_vec)

Mat	mask_resize (const Mat &mat)

void	apply_joint_coupling ()

void	calculate_coupling_matrix_increase ()

void	calculate_coupling_matrix_reduce ()

void	calculte_dof_after_coupling ()

std::vector< std::string >	split (const std::string &s, char delimiter, bool remove_empty)

bool	check_joint_in_limit (const Vec &q)

void	calculate_joint_LUT ()

void	convert_fwd_k_into_vec ()

Vec	convert_fwd_k_into_vec (Mat fwd_k)

Vec	get_joint_limit_scalar ()

void	pseudo_inverse_simple ()

void	pseudo_inverse_null_space ()

void	null_space_constraint_calculation ()

void	pseudo_inverse_normal ()

void	damped_least_square_method ()

void	jacobian_transpose ()

void	iterative_solve_equation ()

void	check_for_cpu ()

void	modify_error_with_f ()

void	solve_for_mask ()

void	check_for_convergence ()

void	solve ()

void	apply_joint_limits ()

Protected Attributes
uint	m_joints

uint	m_dof

Mat4d	m_base_frame_T

Mat4d	m_tool_frame_T

DH_type	m_DH_convention

Mat4d	m_tip_T

Mat4d	m_target_T

Vec	m_q_vec

Vec	m_q_vec_rest

Vec	m_prev_q_vec

Vec	m_q_vec_for_user

std::vector< DH_table_entry >	m_DH_table

bool	m_check_joint_limit_jacobian

double	m_lambda

void(Endorob::*	p_solver_type )(void)

Vec	m_coupling_vector

Mat	m_joint_coupling_matrix

Mat	m_joint_coupling_reduce_dimension

bool	m_apply_joint_coupling

bool	m_rolling_joint_present

Vec	m_xi_vec

Vec	m_xi_vec_rest

Vec	m_prev_xi_vec

Vec	m_joint_lookup_table

std::thread *	psolver

volatile bool	m_start_solver

volatile bool	m_run

volatile bool	m_converged

volatile bool	m_diverged

bool	m_iteration_overflow

unsigned long	m_iterations

bool	m_do_not_start_solver

volatile bool	m_wait_for_sync

volatile bool	m_solver_pending

volatile bool	m_thread_running

unsigned	m_mask_dof

Vec	m_mask_vector

bool	m_apply_mask

Mat	m_J

Mat	m_J_inv

Mat	m_J_masked

Mat	m_J_inv_masked

Mat	m_J_for_user

Mat	m_J_vel

Mat	m_J_rot

Vec3d	m_p_e

Vec3d	m_z_tmp

Vec3d	m_p_tmp

Mat	m_error_weights

Vec	m_error_weights_vec

Vec	m_phi

Vec	m_alpha

Mat	m_identity

unsigned	m_joint_index_offset

bool	m_apply_weighted_solution

Mat	m_fwd_k_vec

Vec	m_full_body_vec_current

Vec	m_full_body_vec_desired

Vec	m_virtual_snake

bool	m_full_body_needed

Mat4d	m_robot_frame_T

Mat4d	m_global_frame_to_robot_increment

Mat4d	m_robot_frame_to_global_increment

Vec	m_error

Vec	m_prev_error

Vec	m_error_masked

Vec	m_prev_error_masked

std::vector< Vec3d, Eigen::aligned_allocator< Vec3d > >	m_robot_path

uint	m_CPU_affinity

uint	m_instantiation_index

std::vector< bool >	m_faulty_joint_vec

std::atomic< bool >	m_apply_fault_tolerance

Static Protected Attributes
static Vec	m_virtual_robot

static uint	m_CPU_amount = 0

static uint	m_CPU_cpt = 0xFE

static volatile bool	m_assigning_CPU = false

static uint	m_instantiations = 0

static bool	m_cpu_info_dispayed = false

Related Functions
(Note that these are not member functions.)
Mat4d	invert_transform (const Mat4d &mat)
	Invert homogeneous matrix for opposite transformation. More...

Vec3d	get_rpy (const Mat &mat)
	Get Roll Pitch and Yaw angles. More...

Vec3d	get_Euler (const Mat &mat)
	Get Euler angles. More...

Mat4d	set_rpy (const Mat &mat, Vec3d rpy)
	Set the roll pitch and yaw angles into a 4x4 homogeneous matrix. More...

Mat3d	rot_x (const double &angle)
	Get the desired rotation matrix around the X axis rotated by a desired angle: More...

Mat3d	rot_y (const double &angle)
	Get the desired rotation matrix around the Y axis rotated by a desired angle: More...

Mat3d	rot_z (const double &angle)
	Get the desired rotation matrix around the Z axis rotated by a desired angle: More...

Mat3d	rot_xyz (const double &angle, const Vec3d &axis)
	Get the desired rotation matrix formed by the angle and axis representation. More...

Mat4d	rotate_transform_locally (const Mat4d &mat, const Mat3d &rot)
	Rotate transform locally. More...

Mat4d	rotate_transform_around_P (const Mat4d &T, const Mat3d &rot, const Vec &P)
	Rotate transform around arbitrary point. More...

Mat4d	rotate_transform_around_axis_and_P (const Mat4d &T, const double &angle, const Vec3d &axis, const Vec &P)
	Rotate transform around arbitrary axis and point. More...

Mat3d	get_rotation_increment (const Mat3d &start, const Mat3d &goal)
	Get increment between two rotation matrices. More...

Vec	get_vector_increment (const Vec &start, const Vec &goal)
	Get increment between two vectors. More...

Mat4d	get_transform_increment (const Mat4d &start, const Mat4d &goal)
	Get increment between two transformation matrices (rotation and translation) More...

Vec3d	project_point_onto_line (const Vec3d &P, const Vec3d &A, const Vec3d &B)
	Project point P onto line defined by AB (orthogonal projection) More...

Vec3d	sphere_line_intersection (const double &radius, const Vec3d &center, const Vec3d &A, const Vec3d &B)
	Sphere line intersection. More...

Detailed Description

This is the main Class: EndoRob that you can use to control your own weird looking robot...

This robotics C++ library allows you to implement and control your own robots. All the linear algebra depends on the Eigen c++ library that you will need to get and install first. EndoRob uses the well know DH table convention to create your robot. Many functions are implemented to allow you to do forward kinematics, inverse kinematics using iterative solvers, full-body inverse kinematics, teleoperation, etc

Definition at line 420 of file endorob.h.

Constructor & Destructor Documentation

◆ Endorob() [1/2]

Endorob::Endorob ( )

Default constructor.

Creates an EndoRob object.

Definition at line 33 of file endorob.cpp.

◆ Endorob() [2/2]

Endorob::Endorob ( const Solver_type & solver_type )

Advanced constructor for full-body control.

This constructor is used to control specifically all the joints for snake-like robots (i2Snake) and follow the leader navigation.

Definition at line 75 of file endorob.cpp.

◆ ~Endorob()

Endorob::~Endorob ( )

Default destructor.

N/A.

Definition at line 133 of file endorob.cpp.

Member Function Documentation

◆ add_DH_entry()

void Endorob::add_DH_entry	(	const double &	a,
		const double &	alpha,
		const double &	d,
		const double &	theta,
		const Joint_type &	type,
		const double &	a_bis = `0`,
		const double &	theta_bis = `0`,
		const uint &	flex = `0`
	)

Setup robot DH table one entry at a time (Attention, modified DH convention by default)

Parameters

a	double argument from your DH table, in case of a rolling joint, a is the rolling joint radius * 2.
alpha	double argument from your DH table.
d	double argument from your DH table.
theta	double argument from your DH table.
type	Joint_type argument such as Prismatic, Revolute, Rolling.
a_bis	optional double argument specific to the rolling joint = rolling joint inner link length.
theta_bis	optional double argument specific to the rolling joint = post theta offset.

Returns: void

See also: enum Joint_type, DH_table_entry, save_DH(), load_DH()

Definition at line 283 of file endorob.cpp.

◆ angle_modulus()

Vec Endorob::angle_modulus ( const Vec & q_vec )

protected

Definition at line 2918 of file endorob.cpp.

◆ apply_joint_coupling()

void Endorob::apply_joint_coupling ( )

protected

Definition at line 2960 of file endorob.cpp.

◆ apply_joint_limits()

void Endorob::apply_joint_limits ( )

protected

Definition at line 1485 of file endorob.cpp.

◆ base_transformation_matrix()

Mat4d Endorob::base_transformation_matrix	(	DH_table_entry	DH,
		double	q
	)

protected

Definition at line 3291 of file endorob.cpp.

◆ calculate_coupling_matrix_increase()

void Endorob::calculate_coupling_matrix_increase ( )

protected

Definition at line 2967 of file endorob.cpp.

◆ calculate_coupling_matrix_reduce()

void Endorob::calculate_coupling_matrix_reduce ( )

protected

Definition at line 2992 of file endorob.cpp.

◆ calculate_full_body_jacobian()

void Endorob::calculate_full_body_jacobian ( )

protected

Definition at line 1063 of file endorob.cpp.

◆ calculate_full_forward_kinematics() [1/2]

void Endorob::calculate_full_forward_kinematics ( )

protected

Definition at line 765 of file endorob.cpp.

◆ calculate_full_forward_kinematics() [2/2]

Mat Endorob::calculate_full_forward_kinematics ( const Vec & q )

protected

Definition at line 861 of file endorob.cpp.

◆ calculate_full_mobile_body_jacobian()

void Endorob::calculate_full_mobile_body_jacobian ( )

protected

static‍/ bool first_run = true;

Definition at line 1158 of file endorob.cpp.

◆ calculate_jacobian()

void Endorob::calculate_jacobian ( )

protected

Definition at line 962 of file endorob.cpp.

◆ calculate_joint_LUT()

void Endorob::calculate_joint_LUT ( )

protected

Definition at line 3084 of file endorob.cpp.

◆ calculate_pseudo_inverse()

void Endorob::calculate_pseudo_inverse ( )

protected

Definition at line 3334 of file endorob.cpp.

◆ calculate_pseudo_inverse_DLS()

void Endorob::calculate_pseudo_inverse_DLS ( )

protected

Definition at line 3429 of file endorob.cpp.

◆ calculate_pseudo_inverse_masked()

void Endorob::calculate_pseudo_inverse_masked ( )

protected

Definition at line 3385 of file endorob.cpp.

◆ calculte_dof_after_coupling()

void Endorob::calculte_dof_after_coupling ( )

protected

Definition at line 3018 of file endorob.cpp.

◆ check_for_convergence()

void Endorob::check_for_convergence ( )

protected

Definition at line 1551 of file endorob.cpp.

◆ check_for_cpu()

void Endorob::check_for_cpu ( )

protected

Definition at line 3223 of file endorob.cpp.

◆ check_joint_in_limit()

bool Endorob::check_joint_in_limit ( const Vec & q )

protected

Definition at line 3050 of file endorob.cpp.

◆ convert_fwd_k_into_vec() [1/2]

void Endorob::convert_fwd_k_into_vec ( )

protected

Definition at line 3101 of file endorob.cpp.

◆ convert_fwd_k_into_vec() [2/2]

Vec Endorob::convert_fwd_k_into_vec ( Mat fwd_k )

protected

Definition at line 3114 of file endorob.cpp.

◆ damped_least_square_method()

void Endorob::damped_least_square_method ( )

protected

Definition at line 3195 of file endorob.cpp.

◆ disable_fault_tolerance()

void Endorob::disable_fault_tolerance ( )

Disable joint fault tolerance.

Definition at line 2913 of file endorob.cpp.

◆ dof()

unsigned Endorob::dof ( )

Get robot number of DOF (different to the number of joints if coupling is used)

Returns: an unsigned integer representing the number of DOF

See also: joints()

Definition at line 551 of file endorob.cpp.

◆ enforce_joint_limits_mode()

void Endorob::enforce_joint_limits_mode ( void )

Enforce joint limit mode. In this mode the joint cannot exceed their joint limit.

Definition at line 2902 of file endorob.cpp.

◆ follow_the_leader()

Vec Endorob::follow_the_leader	(	const std::vector< Vec3d, Eigen::aligned_allocator< Vec3d >>	path,
		const Vec &	desired_shape,
		const double &	translation
	)

Definition at line 2197 of file endorob.cpp.

◆ follow_the_leader_2()

Vec Endorob::follow_the_leader_2	(	const std::vector< Vec3d, Eigen::aligned_allocator< Vec3d >>	path,
		const Vec &	desired_shape,
		const double &	translation
	)

Definition at line 2267 of file endorob.cpp.

◆ follow_the_leader_3()

Vec Endorob::follow_the_leader_3	(	Snake_Path	path,
		const Vec &	desired_shape,
		const double &	translation
	)

Definition at line 2504 of file endorob.cpp.

◆ follow_the_leader_weighted()

Virtual_Snake Endorob::follow_the_leader_weighted	(	Snake_Path	path,
		const Virtual_Snake &	desired_shape,
		const double &	translation
	)

Definition at line 2674 of file endorob.cpp.

◆ get_body_vec() [1/2]

Vec Endorob::get_body_vec ( )

Get full-body vector.

Returns: the full body vector

See also: TODO

Definition at line 2104 of file endorob.cpp.

◆ get_body_vec() [2/2]

Vec Endorob::get_body_vec ( const Vec & q )

Get full-body vector for specific joint vector.

Parameters

q	the joint vector

Returns: the full body vector

See also: TODO

Definition at line 2109 of file endorob.cpp.

◆ get_coupling_matrix()

Mat Endorob::get_coupling_matrix ( void )

Get the joint coupling matrix.

Returns: the nxn joint coupling matrix

See also: TODO

Definition at line 659 of file endorob.cpp.

◆ get_desired_curve()

Vec Endorob::get_desired_curve ( )

Get desired curve.

Returns: the desired curve

See also: TODO

Definition at line 1874 of file endorob.cpp.

◆ get_DH_table()

std::vector< DH_table_entry > Endorob::get_DH_table ( )

Get the full DH table of the robot.

Returns: a std vector of DH table entries

See also: TODO

Definition at line 2821 of file endorob.cpp.

◆ get_error()

void Endorob::get_error	(	const Mat4d &	Td,
		const Mat4d &	Te
	)

protected

Definition at line 1305 of file endorob.cpp.

◆ get_error_norm()

double Endorob::get_error_norm ( )

Get the error norm between the desired and current position.

Returns: the error norm

See also: TODO

Definition at line 2119 of file endorob.cpp.

◆ get_error_vector()

Vec Endorob::get_error_vector ( )

Get the current error between the desired and current position.

Returns: the error vector

See also: TODO

Definition at line 2142 of file endorob.cpp.

◆ get_faulty_q()

Vec Endorob::get_faulty_q ( )

Definition at line 1504 of file endorob.cpp.

◆ get_forward_kinematics() [1/2]

Mat4d Endorob::get_forward_kinematics ( )

Get the tip pose / homogeneous matrix (forward kinematics)

Returns: an homogeneous matrix representing the tip pose

See also: get_tip_pose(), get_tip_position()

Definition at line 561 of file endorob.cpp.

◆ get_forward_kinematics() [2/2]

Mat4d Endorob::get_forward_kinematics ( const Vec & q )

Get the forward kinematics for a specific joint vector q.

Parameters

q	the desired joint vector

Returns: an 4x4 transformation matrix of the tip of the robot

See also: get_forward_kinematics(), get_tip_pose(), get_tip_position()

Definition at line 566 of file endorob.cpp.

◆ get_full_body_error()

Vec Endorob::get_full_body_error ( )

protected

Definition at line 1321 of file endorob.cpp.

◆ get_full_kinematics()

Mat Endorob::get_full_kinematics ( )

Get the full and complete forward kinematics as a nx4 matrix of homogeneous matrix for each link.

Returns: a nx4 matrix of the full forward kinematics

See also: TODO

Definition at line 2826 of file endorob.cpp.

◆ get_full_mobile_body_error()

void Endorob::get_full_mobile_body_error ( )

protected

Definition at line 1326 of file endorob.cpp.

◆ get_full_q_vec()

Vec Endorob::get_full_q_vec ( )

Get complete joint vector before coupling.

Returns: the joint vector

See also: TODO

Definition at line 1869 of file endorob.cpp.

◆ get_IK_solution()

Vec Endorob::get_IK_solution ( )

Request for solver's converged solution, whether target is reached or not.

Returns: the joint vector q

See also: TODO

Definition at line 1890 of file endorob.cpp.

◆ get_instant_IK_solution()

Vec Endorob::get_instant_IK_solution ( )

Request for solver's current solution,if solver is still running, the solution may not be valid.

Returns: the joint vector q

See also: TODO

Definition at line 1849 of file endorob.cpp.

◆ get_iteration()

unsigned Endorob::get_iteration ( )

Get number of iterations.

Returns: the amount of iteration

See also: TODO

Definition at line 2114 of file endorob.cpp.

◆ get_Jacobian()

Mat Endorob::get_Jacobian ( )

Get the Jacobian matrix of the robot in the current configuration.

Returns: the 6xn Jacobian matrix

See also: TODO

Definition at line 654 of file endorob.cpp.

◆ get_joint_limit_scalar()

Vec Endorob::get_joint_limit_scalar ( )

protected

Definition at line 3130 of file endorob.cpp.

◆ get_orientation_error()

Vec3d Endorob::get_orientation_error	(	const Mat4d &	Td,
		const Mat4d &	Te
	)

protected

Definition at line 1286 of file endorob.cpp.

◆ get_position_error()

Vec3d Endorob::get_position_error	(	const Mat4d &	Td,
		const Mat4d &	Te
	)

protected

Definition at line 1280 of file endorob.cpp.

◆ get_q_vec()

Vec Endorob::get_q_vec ( )

Get joint vector.

Returns: the joint vector

See also: TODO

Definition at line 1861 of file endorob.cpp.

◆ get_random_q_vec()

Vec Endorob::get_random_q_vec ( )

Get random feasible joint vector.

Returns: a random joint vector q

See also: TODO

Definition at line 1944 of file endorob.cpp.

◆ get_RMS_error()

double Endorob::get_RMS_error ( )

Get the RMS per joint error between the desired and current position.

Returns: the RMS error

See also: TODO

Definition at line 2125 of file endorob.cpp.

◆ get_snake_base()

Mat Endorob::get_snake_base ( )

Definition at line 2843 of file endorob.cpp.

◆ get_tip_pose()

Mat4d Endorob::get_tip_pose ( )

Get the tip pose / homogeneous matrix (forward kinematics)

Returns: an homogeneous matrix representing the tip pose

See also: get_forward_kinematics(), get_tip_position()

Definition at line 952 of file endorob.cpp.

◆ get_tip_position()

Vec3d Endorob::get_tip_position ( )

Get the tip position / 3x1 vector (forward kinematics)

Returns: an 3x1 vector representing the tip position

See also: get_forward_kinematics(), get_tip_pose()

Definition at line 957 of file endorob.cpp.

◆ initialize()

void Endorob::initialize ( )

Once all parameters set, initialize robot and start solver.

Returns: void

Definition at line 368 of file endorob.cpp.

◆ iterative_solve_equation()

void Endorob::iterative_solve_equation ( )

protected

Definition at line 3218 of file endorob.cpp.

◆ jacobian_transpose()

void Endorob::jacobian_transpose ( )

protected

Definition at line 3207 of file endorob.cpp.

◆ joints()

unsigned Endorob::joints ( )

Get robot number of joints (different to the number of DOF if coupling is used)

Returns: an unsigned integer representing the number of joints

See also: dof()

Definition at line 556 of file endorob.cpp.

◆ load_DH()

void Endorob::load_DH ( std::string filename )

Load DH entries from file.

Parameters

filename the name of the file including the path

Returns: void

See also: set_DH_convention(), save_DH(), enum Joint_type

Definition at line 198 of file endorob.cpp.

◆ mask_resize()

Mat Endorob::mask_resize ( const Mat & mat )

protected

Definition at line 2941 of file endorob.cpp.

◆ modify_error_with_f()

void Endorob::modify_error_with_f ( )

protected

Definition at line 3246 of file endorob.cpp.

◆ null_space_constraint_calculation()

void Endorob::null_space_constraint_calculation ( )

protected

Definition at line 3185 of file endorob.cpp.

◆ pseudo_inverse_normal()

void Endorob::pseudo_inverse_normal ( )

protected

◆ pseudo_inverse_null_space()

void Endorob::pseudo_inverse_null_space ( )

protected

Definition at line 3166 of file endorob.cpp.

◆ pseudo_inverse_simple()

void Endorob::pseudo_inverse_simple ( )

protected

Definition at line 3152 of file endorob.cpp.

◆ reset_q_vec()

void Endorob::reset_q_vec ( )

Reset robot to startup state.

See also: TODO

Definition at line 1927 of file endorob.cpp.

◆ save_DH()

void Endorob::save_DH ( std::string filename )

Save DH entries to file.

Parameters

filename File name including the path to save the dh entries

Returns: void

See also: set_DH_convention(), load_DH(), enum Joint_type

Definition at line 158 of file endorob.cpp.

◆ set_base_frame()

void Endorob::set_base_frame ( const Mat4d & T )

Set base frame.

Parameters

T	a homogeneous matrix describing the base frame

Returns: void

Definition at line 670 of file endorob.cpp.

◆ set_desired_curve() [1/2]

void Endorob::set_desired_curve ( const Vec & curve )

Set desired curve.

Parameters

curve the desired curve

See also: TODO

Definition at line 1879 of file endorob.cpp.

◆ set_desired_curve() [2/2]

void Endorob::set_desired_curve	(	const Vec &	curve,
		const Mat4d &	mat
	)

Set desired curve and tip transform.

Parameters

curve	the desired curve
mat	the tip transform

See also: TODO

Definition at line 1884 of file endorob.cpp.

◆ set_DH_convention()

void Endorob::set_DH_convention ( const DH_type & convention )

Set DH convention: modified or standard.

Parameters

enum	DH_type argument stating the desired convention

Returns: void

See also: enum Joint_type, DH_table_entry, set_base_frame()

Definition at line 153 of file endorob.cpp.

◆ set_faulty_joint()

void Endorob::set_faulty_joint	(	const uint &	joint,
		const double &	val
	)

Set a joint as faulty for Jacobian Compensation.

Parameters

index	the desired joint index
val	joint value

See also

Definition at line 2907 of file endorob.cpp.

◆ set_flex_gradient()

void Endorob::set_flex_gradient ( const Vec & vec )

Setup flex gradient for continuum robots; used if the material is not uniformely bending.

Parameters

vec	a vector of doubles corresponding to the fraction of motion attributed to a joint (proximal section first; vector must be of norm = 1.0)

Returns: void

See also: set_flex_resolution()

Definition at line 337 of file endorob.cpp.

◆ set_flex_resolution()

void Endorob::set_flex_resolution ( const uint & res )

Setup flex resolution for continuum robots: sampling/division into smaller revolute joints.

Parameters

res	an unsigned int argument, the resolution (amount of division) of the flexible joint

Returns: void

See also: set_flex_gradient()

Definition at line 332 of file endorob.cpp.

◆ set_joint_coupling()

void Endorob::set_joint_coupling ( const Vec & coupling )

Set joint coupling if multiple joint are moving together (coupled) whether for mechanical coupling or flexible joint modelling (equally distributed)

Parameters

coupling an nx1 vector (where n is your amount of DOF) filled as follow: give same index to coupled joints e.g. {0, 1, 2, 3, 4, 5, 4, 5, 6} here joints {4 and 6} are coupled as well as joints {5 and 7}

Returns: void

Definition at line 703 of file endorob.cpp.

◆ set_joint_limits()

void Endorob::set_joint_limits	(	const double &	min,
		const double &	max
	)

Set joint limits for current joint, radians for revolute or rolling joints, meters for prismatic.

Parameters

min	the minimal value that your joint can take.
max	the maximal value that your joint can take.

Returns: void

Definition at line 320 of file endorob.cpp.

◆ set_mask()

void Endorob::set_mask ( const Vec & mask )

Set DOF reduction mask if your robot/instrument has less than 6 DOF. The mask is a 6x1 vector x,y,z,orientation 1, orientation 2, orientation 3. Set to 1 for active and to 0 for disabled.

Parameters

mask	a 6x1 vector of 0's (disable) and 1's (enable)

Returns: void

Definition at line 675 of file endorob.cpp.

◆ set_q_vec()

void Endorob::set_q_vec ( const Vec & q )

Set robot's joint vector.

Parameters

q	the joint vector

See also: TODO

Definition at line 1906 of file endorob.cpp.

◆ set_robot_reference_frame()

void Endorob::set_robot_reference_frame ( const Mat4d & T )

Definition at line 2892 of file endorob.cpp.

◆ set_solver_body_target() [1/2]

void Endorob::set_solver_body_target ( const Vec & vec )

Set solver's full body target (for full body control)

Parameters

vec	the full-body target vector

See also: TODO

Definition at line 2169 of file endorob.cpp.

◆ set_solver_body_target() [2/2]

void Endorob::set_solver_body_target	(	const Vec &	vec,
		const Mat4d &	T
	)

Set solver's full body target (for full body control) and desired tip transform.

Parameters

vec	the full-body target vector
T	the desired tip transform

See also: TODO

Definition at line 2179 of file endorob.cpp.

◆ set_solver_target()

void Endorob::set_solver_target ( const Mat4d & T )

Set solver's target 4x4 homegenous matrix.

Parameters

T	the 4x4 transformation matrix

See also: TODO

Definition at line 2159 of file endorob.cpp.

◆ set_solver_type()

void Endorob::set_solver_type	(	Solver_type	solver,
		const double &	lambda = `1`
	)

Set iterative solver type.

Parameters

solver	Solver_type from the corresponding enum
lambda	the damping factor when using the damped least square solver

Returns: void

Definition at line 342 of file endorob.cpp.

◆ set_solver_weight_mat() [1/2]

void Endorob::set_solver_weight_mat	(	const uint &	index,
		const double &	val
	)

Set the solver's weights value for a desired joint at a specific index.

Parameters

index	the desired joint index
val	the weight value

See also

Definition at line 2877 of file endorob.cpp.

◆ set_solver_weight_mat() [2/2]

void Endorob::set_solver_weight_mat ( const Vec & vec )

Definition at line 2886 of file endorob.cpp.

◆ set_solver_weight_vec()

void Endorob::set_solver_weight_vec	(	const uint &	index,
		const double &	val
	)

Definition at line 2871 of file endorob.cpp.

◆ set_tool_frame()

void Endorob::set_tool_frame ( const Mat4d & T )

Set tool frame.

Parameters

T	a homogeneous matrix describing the tool frame

Returns: void

Definition at line 665 of file endorob.cpp.

◆ set_vec_relative_to_base()

Vec Endorob::set_vec_relative_to_base ( const Vec & vec )

Definition at line 2831 of file endorob.cpp.

◆ solve()

void Endorob::solve ( )

protected

Definition at line 1415 of file endorob.cpp.

◆ solve_for_mask()

void Endorob::solve_for_mask ( )

protected

Definition at line 1518 of file endorob.cpp.

◆ solve_with_tentacle()

Vec Endorob::solve_with_tentacle ( Mat T_ )

Definition at line 2190 of file endorob.cpp.

◆ solver_has_converged()

bool Endorob::solver_has_converged ( )

protected

Definition at line 2149 of file endorob.cpp.

◆ solver_has_ended()

bool Endorob::solver_has_ended ( )

protected

Definition at line 2154 of file endorob.cpp.

◆ split()

std::vector< std::string > Endorob::split	(	const std::string &	s,
		char	delimiter,
		bool	remove_empty
	)

protected

Definition at line 3036 of file endorob.cpp.

◆ threaded_solver()

void Endorob::threaded_solver	(	int	a,
		int	b
	)

protected

Definition at line 1353 of file endorob.cpp.

◆ threaded_solver_2()

void Endorob::threaded_solver_2	(	int	a,
		int	b
	)

protected

Definition at line 1586 of file endorob.cpp.

◆ zero_thresholding()

Vec Endorob::zero_thresholding	(	const Vec &	q_vec,
		const double &	val = `M_PI/180/20`
	)

protected

Definition at line 3277 of file endorob.cpp.

Friends And Related Function Documentation

◆ get_Euler()

Vec3d get_Euler ( const Mat & mat )

Parameters

mat	a 3x3 rotation matrix or a 4x4 homegenous matrix

Returns: a 3D vector with the Euler angles

See also: set_rpy(), rot_x(), rot_y(), rot_z(), rot_xyz(), get_rpy()

Definition at line 4814 of file endorob.cpp.

◆ get_rotation_increment()

Mat3d get_rotation_increment	(	const Mat3d &	start,
		const Mat3d &	goal
	)

Parameters

start	the 3x3 initial rotation matrix
goal	the 3x3 target rotation matrix

Returns: the 3x3 rotation matrix to go from start to goal

See also: TODO

Definition at line 4795 of file endorob.cpp.

◆ get_rpy()

Vec3d get_rpy ( const Mat & mat )

Parameters

mat	a 3x3 rotation matrix or a 4x4 homegenous matrix

Returns: a 3D vector with the roll pitch and yaw angles

See also: set_rpy(), rot_x(), rot_y(), rot_z(), rot_xyz(), get_Euler()

Definition at line 1962 of file endorob.cpp.

◆ get_transform_increment()

Mat4d get_transform_increment	(	const Mat4d &	start,
		const Mat4d &	goal
	)

Parameters

start	the 4x4 initial matrix
goal	the 4x4 goal matrix

Returns: the 4x4 matrix to go from start to goal

See also: TODO

Definition at line 4805 of file endorob.cpp.

◆ get_vector_increment()

Vec get_vector_increment	(	const Vec &	start,
		const Vec &	goal
	)

Parameters

start	the 3x1 initial vector
goal	the 3x1 goal vector

Returns: the 3x1 vector to go from start to goal

See also: TODO

Definition at line 4800 of file endorob.cpp.

◆ invert_transform()

Mat4d invert_transform ( const Mat4d & mat )

Parameters

mat	a 4x4 homogeneous matrix

Returns: the inverted matrix

See also: set_rpy(), rot_x(), rot_y(), rot_z(), rot_xyz(), get_Euler()

Definition at line 4832 of file endorob.cpp.

◆ project_point_onto_line()

Vec3d project_point_onto_line	(	const Vec3d &	P,
		const Vec3d &	A,
		const Vec3d &	B
	)

Parameters

P	a 3D point
A	a 3D point
B	a 3d point

Returns: the coordinates of the projection

See also: TODO

Definition at line 2051 of file endorob.cpp.

◆ rot_x()

Mat3d rot_x ( const double & angle )

Parameters

angle (in radians)

Returns: a 3x3 rotation matrix

See also: get_rpy(), rot_y(), rot_z(), rot_xyz(), get_Euler()

Definition at line 1989 of file endorob.cpp.

◆ rot_xyz()

Mat3d rot_xyz	(	const double &	angle,
		const Vec3d &	axis
	)

Parameters

angle	(in radians)
axis	a 3D vector

Returns: the corresponding rotation matrix

See also: get_rpy(), rot_y(), rot_x(), rot_z(), get_Euler()

Definition at line 2004 of file endorob.cpp.

◆ rot_y()

Mat3d rot_y ( const double & angle )

Parameters

angle (in radians)

Returns: a 3x3 rotation matrix

See also: get_rpy(), rot_x(), rot_z(), rot_xyz(), get_Euler()

Definition at line 1994 of file endorob.cpp.

◆ rot_z()

Mat3d rot_z ( const double & angle )

Parameters

angle (in radians)

Returns: a 3x3 rotation matrix

See also: get_rpy(), rot_y(), rot_x(), rot_xyz(), get_Euler()

Definition at line 1999 of file endorob.cpp.

◆ rotate_transform_around_axis_and_P()

Mat4d rotate_transform_around_axis_and_P	(	const Mat4d &	T,
		const double &	angle,
		const Vec3d &	axis,
		const Vec &	P
	)

Parameters

T	the 4x4 homogeneous matrix to be rotated
angle	the desired angle to rotate
axis	the desired 3D axis
P	the 3D point where to do the rotation

Returns: the rotated transform

See also: TODO

Definition at line 2033 of file endorob.cpp.

◆ rotate_transform_around_P()

Mat4d rotate_transform_around_P	(	const Mat4d &	T,
		const Mat3d &	rot,
		const Vec &	P
	)

Parameters

T	the 4x4 homogeneous matrix to be rotated
rot	the 3x3 rotation matrix
P	the 3D point where to do the rotation

Returns: the rotated transform

See also: TODO

Definition at line 2018 of file endorob.cpp.

◆ rotate_transform_locally()

Mat4d rotate_transform_locally	(	const Mat4d &	mat,
		const Mat3d &	rot
	)

Parameters

mat	the 4x4 homogeneous matrix to be rotated
rot	the 3x3 rotation matrix

Returns: the rotated transform

See also: TODO

Definition at line 2009 of file endorob.cpp.

◆ set_rpy()

Mat4d set_rpy	(	const Mat &	mat,
		Vec3d	rpy
	)

Parameters

mat	a 4x4 homegenous matrix
rpy	a 3D vector with the RPY angles

Returns: a 4x4 homegenous matrix composed of the initial matrix and the rpy angles

See also: get_rpy(), rot_x(), rot_y(), rot_z(), rot_xyz(), get_Euler()

Definition at line 1980 of file endorob.cpp.

◆ sphere_line_intersection()

Vec3d sphere_line_intersection	(	const double &	radius,
		const Vec3d &	center,
		const Vec3d &	A,
		const Vec3d &	B
	)

Parameters

radius	the sphere radius
center	the sphere center
A	the start of the line
B	the end of the line

Returns: the coordinates of the intersection

See also: TODO

Definition at line 2061 of file endorob.cpp.

Member Data Documentation

◆ m_alpha

Vec Endorob::m_alpha

protected

Definition at line 1007 of file endorob.h.

◆ m_apply_fault_tolerance

std::atomic<bool> Endorob::m_apply_fault_tolerance

protected

Definition at line 1039 of file endorob.h.

◆ m_apply_joint_coupling

bool Endorob::m_apply_joint_coupling

protected

Definition at line 976 of file endorob.h.

◆ m_apply_mask

bool Endorob::m_apply_mask

protected

Definition at line 997 of file endorob.h.

◆ m_apply_weighted_solution

bool Endorob::m_apply_weighted_solution

protected

Definition at line 1010 of file endorob.h.

◆ m_assigning_CPU

volatile bool Endorob::m_assigning_CPU = false

staticprotected

Definition at line 1031 of file endorob.h.

◆ m_base_frame_T

Mat4d Endorob::m_base_frame_T

protected

Definition at line 959 of file endorob.h.

◆ m_check_joint_limit_jacobian

bool Endorob::m_check_joint_limit_jacobian

protected

Definition at line 967 of file endorob.h.

◆ m_converged

volatile bool Endorob::m_converged

protected

Definition at line 986 of file endorob.h.

◆ m_coupling_vector

Vec Endorob::m_coupling_vector

protected

Definition at line 973 of file endorob.h.

◆ m_CPU_affinity

uint Endorob::m_CPU_affinity

protected

Definition at line 1030 of file endorob.h.

◆ m_CPU_amount

uint Endorob::m_CPU_amount = 0

staticprotected

Definition at line 1028 of file endorob.h.

◆ m_CPU_cpt

uint Endorob::m_CPU_cpt = 0xFE

staticprotected

Definition at line 1029 of file endorob.h.

◆ m_cpu_info_dispayed

bool Endorob::m_cpu_info_dispayed = false

staticprotected

Definition at line 1034 of file endorob.h.

◆ m_DH_convention

DH_type Endorob::m_DH_convention

protected

Definition at line 960 of file endorob.h.

◆ m_DH_table

std::vector<DH_table_entry> Endorob::m_DH_table

protected

Definition at line 966 of file endorob.h.

◆ m_diverged

volatile bool Endorob::m_diverged

protected

Definition at line 986 of file endorob.h.

◆ m_do_not_start_solver

bool Endorob::m_do_not_start_solver

protected

Definition at line 989 of file endorob.h.

◆ m_dof

uint Endorob::m_dof

protected

Definition at line 958 of file endorob.h.

◆ m_error

Vec Endorob::m_error

protected

Definition at line 1021 of file endorob.h.

◆ m_error_masked

Vec Endorob::m_error_masked

protected

Definition at line 1021 of file endorob.h.

◆ m_error_weights

Mat Endorob::m_error_weights

protected

Definition at line 1005 of file endorob.h.

◆ m_error_weights_vec

Vec Endorob::m_error_weights_vec

protected

Definition at line 1006 of file endorob.h.

◆ m_faulty_joint_vec

std::vector<bool> Endorob::m_faulty_joint_vec

protected

Definition at line 1038 of file endorob.h.

◆ m_full_body_needed

bool Endorob::m_full_body_needed

protected

Definition at line 1017 of file endorob.h.

◆ m_full_body_vec_current

Vec Endorob::m_full_body_vec_current

protected

Definition at line 1015 of file endorob.h.

◆ m_full_body_vec_desired

Vec Endorob::m_full_body_vec_desired

protected

Definition at line 1015 of file endorob.h.

◆ m_fwd_k_vec

Mat Endorob::m_fwd_k_vec

protected

Definition at line 1014 of file endorob.h.

◆ m_global_frame_to_robot_increment

Mat4d Endorob::m_global_frame_to_robot_increment

protected

Definition at line 1018 of file endorob.h.

◆ m_identity

Mat Endorob::m_identity

protected

Definition at line 1008 of file endorob.h.

◆ m_instantiation_index

uint Endorob::m_instantiation_index

protected

Definition at line 1035 of file endorob.h.

◆ m_instantiations

uint Endorob::m_instantiations = 0

staticprotected

Definition at line 1033 of file endorob.h.

◆ m_iteration_overflow

bool Endorob::m_iteration_overflow

protected

Definition at line 987 of file endorob.h.

◆ m_iterations

unsigned long Endorob::m_iterations

protected

Definition at line 988 of file endorob.h.

◆ m_J

Mat Endorob::m_J

protected

Definition at line 1000 of file endorob.h.

◆ m_J_for_user

Mat Endorob::m_J_for_user

protected

Definition at line 1001 of file endorob.h.

◆ m_J_inv

Mat Endorob::m_J_inv

protected

Definition at line 1000 of file endorob.h.

◆ m_J_inv_masked

Mat Endorob::m_J_inv_masked

protected

Definition at line 1000 of file endorob.h.

◆ m_J_masked

Mat Endorob::m_J_masked

protected

Definition at line 1000 of file endorob.h.

◆ m_J_rot

Mat Endorob::m_J_rot

protected

Definition at line 1002 of file endorob.h.

◆ m_J_vel

Mat Endorob::m_J_vel

protected

Definition at line 1002 of file endorob.h.

◆ m_joint_coupling_matrix

Mat Endorob::m_joint_coupling_matrix

protected

Definition at line 974 of file endorob.h.

◆ m_joint_coupling_reduce_dimension

Mat Endorob::m_joint_coupling_reduce_dimension

protected

Definition at line 975 of file endorob.h.

◆ m_joint_index_offset

unsigned Endorob::m_joint_index_offset

protected

Definition at line 1009 of file endorob.h.

◆ m_joint_lookup_table

Vec Endorob::m_joint_lookup_table

protected

Definition at line 980 of file endorob.h.

◆ m_joints

uint Endorob::m_joints

protected

Definition at line 957 of file endorob.h.

◆ m_lambda

double Endorob::m_lambda

protected

Definition at line 968 of file endorob.h.

◆ m_mask_dof

unsigned Endorob::m_mask_dof

protected

Definition at line 995 of file endorob.h.

◆ m_mask_vector

Vec Endorob::m_mask_vector

protected

Definition at line 996 of file endorob.h.

◆ m_p_e

Vec3d Endorob::m_p_e

protected

Definition at line 1003 of file endorob.h.

◆ m_p_tmp

Vec3d Endorob::m_p_tmp

protected

Definition at line 1004 of file endorob.h.

◆ m_phi

Vec Endorob::m_phi

protected

Definition at line 1007 of file endorob.h.

◆ m_prev_error

Vec Endorob::m_prev_error

protected

Definition at line 1021 of file endorob.h.

◆ m_prev_error_masked

Vec Endorob::m_prev_error_masked

protected

Definition at line 1021 of file endorob.h.

◆ m_prev_q_vec

Vec Endorob::m_prev_q_vec

protected

Definition at line 963 of file endorob.h.

◆ m_prev_xi_vec

Vec Endorob::m_prev_xi_vec

protected

Definition at line 979 of file endorob.h.

◆ m_q_vec

Vec Endorob::m_q_vec

protected

Definition at line 962 of file endorob.h.

◆ m_q_vec_for_user

Vec Endorob::m_q_vec_for_user

protected

Definition at line 964 of file endorob.h.

◆ m_q_vec_rest

Vec Endorob::m_q_vec_rest

protected

Definition at line 962 of file endorob.h.

◆ m_robot_frame_T

Mat4d Endorob::m_robot_frame_T

protected

Definition at line 1018 of file endorob.h.

◆ m_robot_frame_to_global_increment

Mat4d Endorob::m_robot_frame_to_global_increment

protected

Definition at line 1018 of file endorob.h.

◆ m_robot_path

std::vector<Vec3d, Eigen::aligned_allocator<Vec3d> > Endorob::m_robot_path

protected

Definition at line 1024 of file endorob.h.

◆ m_rolling_joint_present

bool Endorob::m_rolling_joint_present

protected

Definition at line 977 of file endorob.h.

◆ m_run

volatile bool Endorob::m_run

protected

Definition at line 985 of file endorob.h.

◆ m_solver_pending

volatile bool Endorob::m_solver_pending

protected

Definition at line 991 of file endorob.h.

◆ m_start_solver

volatile bool Endorob::m_start_solver

protected

Definition at line 985 of file endorob.h.

◆ m_target_T

Mat4d Endorob::m_target_T

protected

Definition at line 961 of file endorob.h.

◆ m_thread_running

volatile bool Endorob::m_thread_running

protected

Definition at line 992 of file endorob.h.

◆ m_tip_T

Mat4d Endorob::m_tip_T

protected

Definition at line 961 of file endorob.h.

◆ m_tool_frame_T

Mat4d Endorob::m_tool_frame_T

protected

Definition at line 959 of file endorob.h.

◆ m_virtual_robot

Vec Endorob::m_virtual_robot

staticprotected

Definition at line 1025 of file endorob.h.

◆ m_virtual_snake

Vec Endorob::m_virtual_snake

protected

Definition at line 1016 of file endorob.h.

◆ m_wait_for_sync

volatile bool Endorob::m_wait_for_sync

protected

Definition at line 990 of file endorob.h.

◆ m_xi_vec

Vec Endorob::m_xi_vec

protected

Definition at line 978 of file endorob.h.

◆ m_xi_vec_rest

Vec Endorob::m_xi_vec_rest

protected

Definition at line 978 of file endorob.h.

◆ m_z_tmp

Vec3d Endorob::m_z_tmp

protected

Definition at line 1004 of file endorob.h.

◆ p_solver_type

void(Endorob::* Endorob::p_solver_type) (void)

protected

Definition at line 969 of file endorob.h.

◆ psolver

std::thread* Endorob::psolver

protected

Definition at line 984 of file endorob.h.

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

endorob/endorob.h
endorob/endorob.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Endorob() [1/2]

◆ Endorob() [2/2]

◆ ~Endorob()

Member Function Documentation

◆ add_DH_entry()

◆ angle_modulus()

◆ apply_joint_coupling()

◆ apply_joint_limits()

◆ base_transformation_matrix()

◆ calculate_coupling_matrix_increase()

◆ calculate_coupling_matrix_reduce()

◆ calculate_full_body_jacobian()

◆ calculate_full_forward_kinematics() [1/2]

◆ calculate_full_forward_kinematics() [2/2]

◆ calculate_full_mobile_body_jacobian()

◆ calculate_jacobian()

◆ calculate_joint_LUT()

◆ calculate_pseudo_inverse()

◆ calculate_pseudo_inverse_DLS()

◆ calculate_pseudo_inverse_masked()

◆ calculte_dof_after_coupling()

◆ check_for_convergence()

◆ check_for_cpu()

◆ check_joint_in_limit()

◆ convert_fwd_k_into_vec() [1/2]

◆ convert_fwd_k_into_vec() [2/2]

◆ damped_least_square_method()

◆ disable_fault_tolerance()

◆ dof()

◆ enforce_joint_limits_mode()

◆ follow_the_leader()

◆ follow_the_leader_2()

◆ follow_the_leader_3()

◆ follow_the_leader_weighted()

◆ get_body_vec() [1/2]

◆ get_body_vec() [2/2]

◆ get_coupling_matrix()

◆ get_desired_curve()

◆ get_DH_table()

◆ get_error()

◆ get_error_norm()

◆ get_error_vector()

◆ get_faulty_q()

◆ get_forward_kinematics() [1/2]

◆ get_forward_kinematics() [2/2]

◆ get_full_body_error()

◆ get_full_kinematics()

◆ get_full_mobile_body_error()

◆ get_full_q_vec()

◆ get_IK_solution()

◆ get_instant_IK_solution()

◆ get_iteration()

◆ get_Jacobian()

◆ get_joint_limit_scalar()

◆ get_orientation_error()

◆ get_position_error()

◆ get_q_vec()

◆ get_random_q_vec()

◆ get_RMS_error()

◆ get_snake_base()

◆ get_tip_pose()

◆ get_tip_position()

◆ initialize()

◆ iterative_solve_equation()

◆ jacobian_transpose()

◆ joints()

◆ load_DH()

◆ mask_resize()

◆ modify_error_with_f()

◆ null_space_constraint_calculation()

◆ pseudo_inverse_normal()

◆ pseudo_inverse_null_space()

◆ pseudo_inverse_simple()