Functionality for robot control. More...

Collaboration diagram for Robotics plugin:

Detailed Description

Functionality for robot control.

Namespaces
namespace	ImFusion::Robotics::SupportedRobotTypes
	Robot names (types) as defined in the ImFusionSuite.

Classes
struct	RobotLocation
	Base class for describing the parameters needed by the individual robot SDK to connect to a device. More...

struct	RobotJointDescription
	Structs. More...

struct	RobotLinkDescription
	Defines a description of a robot link including its visual properties and connections. More...

struct	SavedGroupState
	Represents a named configuration of joint positions for a specific group of robot joints. More...

struct	RobotDescription
	Comprehensive description of a robot's kinematic structure and properties Contains the complete definition of a robot's joints, links, and their relationships. More...

struct	RobotArmCartesianState
	Comprehensive description of the complete Cartesian state of a robot arm and its attached objects. More...

class	RobotGUIProperties

class	RobotInstance
	A class that manages a robot's kinematic model and coordinate transformations in the ImFusion SDK. More...

class	RobotRunner
	Core class for managing robot execution and real-time control in the ImFusion SDK. More...

struct	JointQuantities
	Represents joint-related values (position, velocity, acceleration, torque, etc.) and their corresponding states (measured, desired, or commanded) and provides access to each of these values through member variables. More...

struct	JointState
	Represents a joint's rotational state in terms of position and velocity. More...

struct	CartesianQuantities
	Represents Cartesian quantities used to describe 3D spatial information. More...

struct	CartesianState
	Represents pose and velocity of a frame in Cartesian coordinates. More...

struct	CartesianFrames
	Holds two Cartesian States between different parts of the robotic system (i.e flange to base, and effector to base) More...

class	RobotState
	Contains the current status of the robot (i.e. More...

class	RobotStateStreamData
	Stream data containing robot state information. More...

class	RobotStateStream
	A Stream class for interfacing with robots in the ImFusion SDK. More...

Typedefs
using	RobotType = std::string
	Unique identifier for the robot make, model and hardware configuration.

using	JointQuantity = Eigen::VectorXd

using	JointPosition = JointQuantity
	Position of each joint; the interpretation depends on the robot type.

using	JointVelocity = JointQuantity
	Velocity of each joint; the interpretation depends on the robot type.

using	JointTorques = JointQuantity
	Torque in Nm about each robot joint.

using	Wrench = vec6
	Cartesian forces along each axis in N, and torques about each axis in Nm.

using	JacobianMatrix = Eigen::Matrix<double, 6, Eigen::Dynamic>

using	LinkPosition = std::map<std::string, isom3>

Enumerations
enum class	RobotStreamType { Simulated , State , Control }
	Defines the type of robot data stream. More...

Functions
IMFUSION_ROBOTICS_API bool	hasRealtimeKernel ()
	Check if the operating system supports (soft) real-time capabilities.

IMFUSION_ROBOTICS_API bool	makeCurrentThreadSoftRealtime ()
	Configure the current thread for real-time control.

IMFUSION_ROBOTICS_API isom3	urdfPoseToImFusionMatrix (const urdf::Pose &pose)
	Convert URDF-style pose to ImFusion matrix format and handle unit conversion from meters to millimeters automatically.

IMFUSION_ROBOTICS_API isom3	computeVelocity (double periodMs, const isom3 &delta)
	Compute the velocity matrix, corresponding to the movement of the object over a second.

IMFUSION_ROBOTICS_API isom3	computeDisplacement (double periodMs, const isom3 &delta)
	Compute displacement matrix, corresponding to the movement of the object over a second.

IMFUSION_ROBOTICS_API isom3	exponentialSmoothing (double alpha, const isom3 &newData, const isom3 &oldData)
	Performs an exponential smoothing between two poses.

IMFUSION_ROBOTICS_API isom3	tfPoseToImFusionMatrix (const vec3 &translationMeters, const vec4 &xyzwQuaternion)
	Convert ROS/tf-style pose to ImFusion matrix format and handle unit conversion from meters to millimeters automatically.

IMFUSION_ROBOTICS_API void	vectorToJointArray (const std::vector< float > &vec, KDL::JntArray &outArr)
	Convert a vector of floats to a KDL::JntArray.

IMFUSION_ROBOTICS_API void	jointArrayToVector (const KDL::JntArray &arr, std::vector< float > &outVec)
	Convert a KDL::JntArray to vector of floats.

IMFUSION_ROBOTICS_API void	vectorToJointArray (const std::vector< double > &vec, KDL::JntArray &outArr)
	Convert a vector of doubles to a KDL::JntArray.

IMFUSION_ROBOTICS_API void	jointArrayToVector (const KDL::JntArray &arr, std::vector< double > &outVec)
	Convert a KDL::JntArray to vector of doubles.

template<typename VectorType>
JointQuantity	vectorToJointQuantity (const VectorType &v)

template<typename VectorType>
void	vectorToJointQuantity (const VectorType &v, JointQuantity &jq)

template<typename VectorType>
VectorType	jointQuantityToVector (const JointQuantity &jq)

template<typename VectorType>
void	jointQuantityToVector (const JointQuantity &jq, VectorType &v)

void	jointQuantityToKDLArray (const JointQuantity &jq, KDL::JntArray &kdlArray)

IMFUSION_ROBOTICS_API void	vectorToJointArray (const JointPosition &vec, KDL::JntArray &outArr)

IMFUSION_ROBOTICS_API void	jointArrayToVector (const KDL::JntArray &arr, JointPosition &outVec)

std::optional< double > IMFUSION_ROBOTICS_API	lInfError (const Eigen::Ref< const Eigen::MatrixXd > &m1, const Eigen::Ref< const Eigen::MatrixXd > &m2, double tol=1.0e-4)
	Return the infinite-norm relative error between two Eigen matrices/vectors.

bool IMFUSION_ROBOTICS_API	lInfErrorAreEqual (const Eigen::Ref< const Eigen::MatrixXd > &m1, const Eigen::Ref< const Eigen::MatrixXd > &m2, double tol=1.0e-4)
	Return if two Eigen matrices/vectors are equal within a given tolerance.

Variables
const std::map< ReferenceFrame, std::string >	ReferenceFrameNames

Enumeration Type Documentation

◆ RobotStreamType

enum class RobotStreamType

strong

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Defines the type of robot data stream.

This categorizes different sources of robot data, distinguishing between simulated data, real-time state information, and control commands.

Enumerator
Simulated	Data generated from a simulated robot environment (e.g., for testing or validation).
State	Read-only real-time state data from a physical robot, including sensor readings and joint states.

Function Documentation

◆ hasRealtimeKernel()

IMFUSION_ROBOTICS_API bool hasRealtimeKernel ( )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Check if the operating system supports (soft) real-time capabilities.

Returns: True on Windows. On Linux, returns true only if the kernel was compiled with the PREEMPT-RT patch set.

◆ makeCurrentThreadSoftRealtime()

IMFUSION_ROBOTICS_API bool makeCurrentThreadSoftRealtime ( )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Configure the current thread for real-time control.

Requests the operating system scheduler to assign the highest priority to the thread.

Returns: true if the operation succeeds, false otherwise.

◆ urdfPoseToImFusionMatrix()

IMFUSION_ROBOTICS_API isom3 urdfPoseToImFusionMatrix ( const urdf::Pose & pose )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert URDF-style pose to ImFusion matrix format and handle unit conversion from meters to millimeters automatically.

Parameters

pose	position vector in meters and rotation as quaternion [x,y,z,w] (URDF convention).

Returns: Eigen transformation matrix in ImFusion format (millimeters).

◆ computeVelocity()

IMFUSION_ROBOTICS_API isom3 computeVelocity	(	double	periodMs,
		const isom3 &	delta )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Compute the velocity matrix, corresponding to the movement of the object over a second.

Parameters

periodMs	The time period in milliseconds over which the displacement occurs.
delta	The transformation representing the displacement over the given period.

Returns: The scaled isometric transformation representing the speed (displacement per second).

Note: Scales the rotation angle while preserving the axis of rotation and adjusts the translation proportionally using the inverse of the period in seconds.

◆ computeDisplacement()

IMFUSION_ROBOTICS_API isom3 computeDisplacement	(	double	periodMs,
		const isom3 &	delta )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Compute displacement matrix, corresponding to the movement of the object over a second.

Parameters

periodMs	The time period in milliseconds over which the displacement occurs.
delta	The transformation representing the displacement over the given period.

Returns: The scaled isometric transformation representing the displacement (displacement per second).

Note: Scales the rotation angle while preserving the axis of rotation and proportionally adjusts the translation based on the period in seconds.

◆ exponentialSmoothing()

IMFUSION_ROBOTICS_API isom3 exponentialSmoothing	(	double	alpha,
		const isom3 &	newData,
		const isom3 &	oldData )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Performs an exponential smoothing between two poses.

Parameters

alpha	Smoothing factor in [0,1]. Higher values reduce lag but increase noise sensitivity
newData	Latest pose measurements
oldData	Previous smoothed pose

Returns: smoothed pose or identity if numerical issue occur

Note: uses separate scaling of rotation and translation components to ensure proper interpolation When alpha = 0, returns oldData, when alpha=1 returns newData

◆ tfPoseToImFusionMatrix()

IMFUSION_ROBOTICS_API isom3 tfPoseToImFusionMatrix	(	const vec3 &	translationMeters,
		const vec4 &	xyzwQuaternion )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert ROS/tf-style pose to ImFusion matrix format and handle unit conversion from meters to millimeters automatically.

Parameters

translationMeters	position vector in meters (ROS convention).
xyzwQuaternion	rotation as quaternion [x,y,z,w] (ROS convention).

Returns: Eigen isometric transformation in ImFusion format (millimeters.

◆ vectorToJointArray() [1/2]

IMFUSION_ROBOTICS_API void vectorToJointArray	(	const std::vector< float > &	vec,
		KDL::JntArray &	outArr )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert a vector of floats to a KDL::JntArray.

Parameters

vec	Input vector containing joint values.
out	Output joint array, resized to match the input vector size.

Note: The function assumes the input and the output are properly sized and accessible, and overwrites any existing contents of the out param.

◆ jointArrayToVector() [1/2]

IMFUSION_ROBOTICS_API void jointArrayToVector	(	const KDL::JntArray &	arr,
		std::vector< float > &	outVec )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert a KDL::JntArray to vector of floats.

Parameters

arr	Input joint array.
out	Output vector, resized to match the input array size

Note: The function assumes the input and the output are properly sized and accessible, and overwrites any existing contents of the out param.

◆ vectorToJointArray() [2/2]

IMFUSION_ROBOTICS_API void vectorToJointArray	(	const std::vector< double > &	vec,
		KDL::JntArray &	outArr )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert a vector of doubles to a KDL::JntArray.

Parameters

vec	Input vector containing joint values.
out	Output joint array, resized to match the input vector size.

Note: The function assumes the input and the output are properly sized and accessible, and overwrites any existing contents of the out param.

◆ jointArrayToVector() [2/2]

IMFUSION_ROBOTICS_API void jointArrayToVector	(	const KDL::JntArray &	arr,
		std::vector< double > &	outVec )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Convert a KDL::JntArray to vector of doubles.

Parameters

arr	Input joint array.
out	Output vector, resized to match the input array size

Note: The function assumes the input and the output are properly sized and accessible, and overwrites any existing contents of the out param.

◆ lInfError()

std::optional< double > IMFUSION_ROBOTICS_API lInfError	(	const Eigen::Ref< const Eigen::MatrixXd > &	m1,
		const Eigen::Ref< const Eigen::MatrixXd > &	m2,
		double	tol = 1.0e-4 )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Return the infinite-norm relative error between two Eigen matrices/vectors.

Parameters

m1	First matrix
m2	Second matrix
tol	Tolerance for the infinite-norm of the matrices

Returns: empty in cas of NANs, otherwise returns the infinite-norm relative error between the two matrices

◆ lInfErrorAreEqual()

bool IMFUSION_ROBOTICS_API lInfErrorAreEqual	(	const Eigen::Ref< const Eigen::MatrixXd > &	m1,
		const Eigen::Ref< const Eigen::MatrixXd > &	m2,
		double	tol = 1.0e-4 )

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Return if two Eigen matrices/vectors are equal within a given tolerance.

Parameters

m1	First matrix
m2	Second matrix
tol	Tolerance for the infinite-norm of the matrices

Returns: true if the infinite-norm relative error between the two matrices is less than tol

Variable Documentation

◆ ReferenceFrameNames

const std::map<ReferenceFrame, std::string> ReferenceFrameNames

#include <RoboticsPlugin/Include/ImFusion/Robotics/Common.h>

Initial value:

= {{ReferenceFrame::World, "World"},
                                                                       {ReferenceFrame::Base, "Base"},
                                                                       {ReferenceFrame::Flange, "Flange"},
                                                                       {ReferenceFrame::Effector, "Effector"}}

Detailed Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ RobotStreamType

Function Documentation

◆ hasRealtimeKernel()

◆ makeCurrentThreadSoftRealtime()

◆ urdfPoseToImFusionMatrix()

◆ computeVelocity()

◆ computeDisplacement()

◆ exponentialSmoothing()

◆ tfPoseToImFusionMatrix()

◆ vectorToJointArray() [1/2]

◆ jointArrayToVector() [1/2]

◆ vectorToJointArray() [2/2]

◆ jointArrayToVector() [2/2]

◆ lInfError()

◆ lInfErrorAreEqual()

Variable Documentation

◆ ReferenceFrameNames