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	ImFusion::Robotics::RobotLocation
	Base class for describing the parameters needed by the individual robot SDK to connect to a device. More...
struct	ImFusion::Robotics::RobotJointDescription
	Structs. More...
struct	ImFusion::Robotics::RobotLinkDescription
	Defines a description of a robot link including its visual properties and connections. More...
struct	ImFusion::Robotics::SavedGroupState
	Represents a named configuration of joint positions for a specific group of robot joints. More...
struct	ImFusion::Robotics::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	ImFusion::Robotics::RobotArmCartesianState
	Comprehensive description of the complete Cartesian state of a robot arm and its attached objects. More...
class	ImFusion::Robotics::RobotGUIProperties
class	ImFusion::Robotics::RobotInstance
	A class that manages a robot's kinematic model and coordinate transformations in the ImFusion SDK. More...
class	ImFusion::Robotics::RobotRunner
	Core class for managing robot execution and real-time control in the ImFusion SDK. More...
struct	ImFusion::Robotics::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	ImFusion::Robotics::JointState
	Represents a joint's rotational state in terms of position and velocity. More...
struct	ImFusion::Robotics::CartesianQuantities
	Represents Cartesian quantities used to describe 3D spatial information. More...
struct	ImFusion::Robotics::CartesianState
	Represents pose and velocity of a frame in Cartesian coordinates. More...
struct	ImFusion::Robotics::CartesianFrames
	Holds two Cartesian States between different parts of the robotic system (i.e flange to base, and effector to base). More...
class	ImFusion::Robotics::RobotState
	Contains the current status of the robot (i.e. More...
class	ImFusion::Robotics::RobotStateStreamData
	Stream data containing robot state information. More...
class	ImFusion::Robotics::RobotStateStream
	A Stream class for interfacing with robots in the ImFusion SDK. More...

Typedefs
using	ImFusion::Robotics::RobotType = std::string
	Unique identifier for the robot make, model and hardware configuration.
using	ImFusion::Robotics::JointQuantity = Eigen::VectorXd
using	ImFusion::Robotics::JointPosition = JointQuantity
	Position of each joint; the interpretation depends on the robot type.
using	ImFusion::Robotics::JointVelocity = JointQuantity
	Velocity of each joint; the interpretation depends on the robot type.
using	ImFusion::Robotics::JointTorques = JointQuantity
	Torque in Nm about each robot joint.
using	ImFusion::Robotics::Wrench = vec6
	Cartesian forces along each axis in N, and torques about each axis in Nm.
using	ImFusion::Robotics::JacobianMatrix = Eigen::Matrix<double, 6, Eigen::Dynamic>
using	ImFusion::Robotics::LinkPosition = std::map<std::string, isom3>

Enumerations
enum class	ImFusion::Robotics::ReferenceFrame { ReferenceFrame::World , ReferenceFrame::Base , ReferenceFrame::Flange , ReferenceFrame::Effector }
	Defines the reference frame for robot coordinate transformations. More...
enum class	ImFusion::Robotics::Axis { X , Y , Z }
	Defines the Cartesian axes for robot movements.
enum class	ImFusion::Robotics::RobotStreamType { RobotStreamType::Simulated , RobotStreamType::State , Control }
	Defines the type of robot data stream. More...

Functions
bool	ImFusion::Robotics::hasRealtimeKernel ()
	Check if the operating system supports (soft) real-time capabilities.
bool	ImFusion::Robotics::makeCurrentThreadSoftRealtime ()
	Configure the current thread for real-time control.
isom3	ImFusion::Robotics::urdfPoseToImFusionMatrix (const urdf::Pose &pose)
	Convert URDF-style pose to ImFusion matrix format and handle unit conversion from meters to millimeters automatically.
isom3	ImFusion::Robotics::computeVelocity (double periodMs, const isom3 &delta)
	Compute the velocity matrix, corresponding to the movement of the object over a second.
isom3	ImFusion::Robotics::computeDisplacement (double periodMs, const isom3 &delta)
	Compute displacement matrix, corresponding to the movement of the object over a second.
isom3	ImFusion::Robotics::exponentialSmoothing (double alpha, const isom3 &newData, const isom3 &oldData)
	Performs an exponential smoothing between two poses.
isom3	ImFusion::Robotics::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.
void	ImFusion::Robotics::vectorToJointArray (const std::vector< float > &vec, KDL::JntArray &outArr)
	Convert a vector of floats to a KDL::JntArray.
void	ImFusion::Robotics::jointArrayToVector (const KDL::JntArray &arr, std::vector< float > &outVec)
	Convert a KDL::JntArray to vector of floats.
void	ImFusion::Robotics::vectorToJointArray (const std::vector< double > &vec, KDL::JntArray &outArr)
	Convert a vector of doubles to a KDL::JntArray.
void	ImFusion::Robotics::jointArrayToVector (const KDL::JntArray &arr, std::vector< double > &outVec)
	Convert a KDL::JntArray to vector of doubles.
template<typename VectorType>
JointQuantity	ImFusion::Robotics::vectorToJointQuantity (const VectorType &v)
template<typename VectorType>
void	ImFusion::Robotics::vectorToJointQuantity (const VectorType &v, JointQuantity &jq)
template<typename VectorType>
VectorType	ImFusion::Robotics::jointQuantityToVector (const JointQuantity &jq)
template<typename VectorType>
void	ImFusion::Robotics::jointQuantityToVector (const JointQuantity &jq, VectorType &v)
void	ImFusion::Robotics::jointQuantityToKDLArray (const JointQuantity &jq, KDL::JntArray &kdlArray)
void	ImFusion::Robotics::vectorToJointArray (const JointPosition &vec, KDL::JntArray &outArr)
void	ImFusion::Robotics::jointArrayToVector (const KDL::JntArray &arr, JointPosition &outVec)
std::optional< double >	ImFusion::Robotics::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::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 >	ImFusion::Robotics::ReferenceFrameNames

Enumeration Type Documentation

◆ ReferenceFrame

enum class ImFusion::Robotics::ReferenceFrame

strong

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

Defines the reference frame for robot coordinate transformations.

Enumerator
World	ImFusion world frame.
Base	Robot base frame.
Flange	Robot flange frame (last joint).
Effector	Robot effector frame (tool center point).

◆ RobotStreamType

enum class ImFusion::Robotics::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()

bool ImFusion::Robotics::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()

bool ImFusion::Robotics::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()

isom3 ImFusion::Robotics::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()

isom3 ImFusion::Robotics::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()

isom3 ImFusion::Robotics::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()

isom3 ImFusion::Robotics::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()

isom3 ImFusion::Robotics::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]

void ImFusion::Robotics::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]

void ImFusion::Robotics::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]

void ImFusion::Robotics::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]

void ImFusion::Robotics::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::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::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> ImFusion::Robotics::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

◆ ReferenceFrame

◆ 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