clik.h
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00001 /*
00002 Copyright (C) 2002-2004  Etienne Lachance
00003 
00004 This library is free software; you can redistribute it and/or modify
00005 it under the terms of the GNU Lesser General Public License as
00006 published by the Free Software Foundation; either version 2.1 of the
00007 License, or (at your option) any later version.
00008 
00009 This library is distributed in the hope that it will be useful,
00010 but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 GNU Lesser General Public License for more details.
00013 
00014 You should have received a copy of the GNU Lesser General Public
00015 License along with this library; if not, write to the Free Software
00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00017 
00018 
00019 Report problems and direct all questions to:
00020 
00021 email: etienne.lachance@polymtl.ca or richard.gourdeau@polymtl.ca
00022 
00023 Reference:
00024 
00025 CLIK: closed loop inverse kinematics
00026 
00027 [1] S. Chiaverini, B. Siciliano, "The Unit Quaternion: A Useful Tool for
00028     Inverse Kinematics of Robot Manipulators", Systems Analysis, Modelling
00029     and Simulation, vol. 35, pp.45-60, 1999.
00030 
00031 [2] F. Caccavale, S. Chiaverini, B. Siciliano, "Second-Order Kinematic Control 
00032     of Robot Manipulators with Jacobian Damped Least-Squares Inverse: Theory
00033     and Experiments", IEEE/ASME Trans on Mechatronics, vol 2, no. 3, 
00034     pp. 188-194, 1997.
00035 
00036 [3] S. Chiaverini, B. Siciliano, "Review of the Damped Least-Squares Inverse 
00037     Kinematics with Experiments on an Industrial Robot Manipulator" IEEE Trans
00038     on Control Systems Technology, vol 2, no 2, june 1994
00039 
00040 [4] C. Natale, "Quaternion-Based Representation of Rigid Bodies Orientation",
00041     PRISMA LAB, PRISMA Technical Report no. 97-05, Oct 1997.
00042 
00043 The algorithme is based on [1], which is of first order.     
00044 
00045 -------------------------------------------------------------------------------
00046 Revision_history:
00047 
00048 2004/07/01: Etienne Lachance
00049    -Added doxygen documentation.
00050 
00051 2004/07/01: Ethan Tira-Thompson
00052     -Added support for newmat's use_namespace #define, using ROBOOP namespace
00053 
00054 2006/01/21: Etienne Lachance
00055     -No need to include quaternion.h.
00056 */
00057 
00058 
00059 #ifndef CLIK_H
00060 #define CLIK_H
00061 
00067 
00068 static const char header_clik_rcsid[] = "$Id: clik.h,v 1.6 2006/05/16 16:11:15 gourdeau Exp $";
00069 
00070 #include "robot.h"
00071 
00072 #ifdef use_namespace
00073 namespace ROBOOP {
00074   using namespace NEWMAT;
00075 #endif
00076 
00077 
00079 #define CLICK_DH           1
00080 
00081 #define CLICK_mDH          2
00082 
00083 #define CLICK_mDH_min_para 3
00084 
00085 
00087 class Clik {
00088 public:
00089    Clik(){}
00090    Clik(const Robot & robot_, const DiagonalMatrix & Kp_, const DiagonalMatrix & Ko_,
00091         const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0);
00092    Clik(const mRobot & mrobot_, const DiagonalMatrix & Kp_, const DiagonalMatrix & Ko_,
00093         const Real eps_=0.04, const Real lambda_max_=0.04, const Real dt=1.0);
00094    Clik(const mRobot_min_para & mrobot_min_para_, const DiagonalMatrix & Kp_,
00095         const DiagonalMatrix & Ko_, const Real eps_=0.04, const Real lambda_max_=0.04,
00096         const Real dt=1.0);
00097    Clik(const Clik & x);
00098    ~Clik(){}
00099    Clik & operator=(const Clik & x);
00100    void q_qdot(const Quaternion & qd, const ColumnVector & pd,
00101                const ColumnVector & pddot, const ColumnVector & wd,
00102                ColumnVector & q, ColumnVector & qp);
00103 private:
00104    int endeff_pos_ori_err(const ColumnVector & pd, const ColumnVector & pddot,
00105                           const Quaternion & qd, const ColumnVector & wd);
00106 
00107    Real 
00108      dt,                
00109      eps,               
00110      lambda_max;        
00111    short  robot_type;   
00112    Robot robot;         
00113    mRobot mrobot;       
00114    mRobot_min_para mrobot_min_para; 
00115    DiagonalMatrix Kp,   
00116                   Ko;   
00117 
00118    ColumnVector q ,       
00119                 qp,       
00120                 qp_prev,  
00121                 Kpep,     
00122                 Koe0Quat, 
00123                 v;        
00124 };
00125 
00126 #ifdef use_namespace
00127 }
00128 #endif
00129 
00130 #endif
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:53