uncalibvs_sim_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _uncalibvs_sim_alg_h_
#define _uncalibvs_sim_alg_h_

#include <iri_uncalibvs_sim/Uncalibvs_simConfig.h>
#include "mutex.h"

#include <math.h>
#include <LinearMath/btQuaternion.h> // Needed to convert rotation ...
#include <LinearMath/btMatrix3x3.h>  // ... quaternion into Euler angles

#include <tf/transform_datatypes.h>

// Eigen stuff
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include <Eigen/SVD>


#include <iostream>
#include <fstream>
#include <stdio.h>

#include <geometry_msgs/Twist.h>
#include <sensor_msgs/JointState.h>
#include <eigen_conversions/eigen_kdl.h>

// KDL stuff
#include <kdl/frames.hpp> 
#include <kdl/frames_io.hpp> 
#include <kdl/chain.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolver.hpp>
#include <kdl/chainiksolverpos_nr.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <kdl/frames_io.hpp>

#include <boost/scoped_ptr.hpp>
// #include <tf_conversions/tf_kdl.h>
// #include <tf/tf.h>

class Uncalibvs_simAlgorithm   
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    
    int n_,noise_;
    unsigned int nj_;
    double lambda_,final_z_,secs_,phi_old_;
    float ff_,ff_old_,u0_,v0_;
    
    // Eigen vars
    Eigen::Matrix3f Rquad_inertial_;
    Eigen::Matrix4f T0c_new_,Tc0_,cTo_,T0c_0_,T0c_x_,diTj_int_,V_mod_;
    Eigen::MatrixXf lambda_robot_,pj_,pn_,P0_,alfas_,uv_,s_,S_,S_x_,cj_0_,cP_,cP_x_,ccP_,J_,diff_,V2_,Vel_,Vqa0_,QQ_,Jqa_,Velqa_;
  
    // Dynamic reconfigure vars
    bool activate,planar_,traditional_,random_points_,quadrotor_,output_files_,arm_unina_,arm_catec_;
    std::string path_;
    
    // KDL vars
    KDL::Chain chain_;
    KDL::JntArray jnt_pos_;
    KDL::Jacobian jacobian_;

    boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
    boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;

    void initZeros(); 
    
    void base_rtw();
  
    
    void image_projection(const float& fu, const float& fv);
  
    
    void features_vector();
    
    void compute_jacobian_t();
 
    void compute_jacobian_u();

    void K_control();

    void q_control();
    
    void qa_control();
    
    void v_null_space_unina();
   
    void qa_kinematics();
    
    void v_null_space_catec();
    
    Eigen::MatrixXf calcPinv(const Eigen::MatrixXf &a);

    void pseudo_inverse(const Eigen::MatrixXf& M, const Eigen::MatrixXf& Y, Eigen::MatrixXf& X);

    Eigen::Matrix4f GetTransform(const KDL::Frame &f);

    
 public:
    typedef iri_uncalibvs_sim::Uncalibvs_simConfig Config;
    
    
    Config config_;

    Uncalibvs_simAlgorithm(void);
      
    
    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all uncalibvs_sim_alg interface methods to retrieve and set
    // the driver parameters

    ~Uncalibvs_simAlgorithm(void);
    
    void uncalib_vs_sim(const bool& traditional, const bool& random_points, const bool& quadrotor, const bool& arm_unina, const bool& arm_catec, const bool& output_files, const std::string& path, const double& lambda, const Eigen::MatrixXf& lambda_robot, const double& final_z,  const Eigen::Matrix4f& cTo, const double& secs, const Eigen::MatrixXf& V2, KDL::Chain& chain, Eigen::MatrixXf& QQ,  const Eigen::Matrix3f& Rquad_inertial, Eigen::MatrixXf& Vel_quad);   
    
};

#endif