chainiksolvervel_pinv_nso.cpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library 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 2.1 of the License, or (at your option) any later version.

// This library 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 library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#include "chainiksolvervel_pinv_nso.hpp"

namespace KDL
{
    ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso(const Chain& _chain, JntArray _opt_pos, JntArray _weights, double _eps, int _maxiter, double _alpha):
        chain(_chain),
        jnt2jac(chain),
        jac(chain.getNrOfJoints()),
        svd(jac),
        U(6,JntArray(chain.getNrOfJoints())),
        S(chain.getNrOfJoints()),
        V(chain.getNrOfJoints(),JntArray(chain.getNrOfJoints())),
        tmp(chain.getNrOfJoints()),
        tmp2(chain.getNrOfJoints()-6),
        eps(_eps),
        maxiter(_maxiter),
        alpha(_alpha),
        weights(_weights),
        opt_pos(_opt_pos)
    {
    }

        ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso(const Chain& _chain, double _eps, int _maxiter, double _alpha):
        chain(_chain),
        jnt2jac(chain),
        jac(chain.getNrOfJoints()),
        svd(jac),
        U(6,JntArray(chain.getNrOfJoints())),
        S(chain.getNrOfJoints()),
        V(chain.getNrOfJoints(),JntArray(chain.getNrOfJoints())),
        tmp(chain.getNrOfJoints()),
        tmp2(chain.getNrOfJoints()-6),
        eps(_eps),
        maxiter(_maxiter),
        alpha(_alpha)
    {
    }

    ChainIkSolverVel_pinv_nso::~ChainIkSolverVel_pinv_nso()
    {
    }


    int ChainIkSolverVel_pinv_nso::CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out)
    {
        //Let the ChainJntToJacSolver calculate the jacobian "jac" for
        //the current joint positions "q_in" 
        jnt2jac.JntToJac(q_in,jac);

        //Do a singular value decomposition of "jac" with maximum
        //iterations "maxiter", put the results in "U", "S" and "V"
        //jac = U*S*Vt
        int ret = svd.calculate(jac,U,S,V,maxiter);

        double sum;
        unsigned int i,j;

        // We have to calculate qdot_out = jac_pinv*v_in
        // Using the svd decomposition this becomes(jac_pinv=V*S_pinv*Ut):
        // qdot_out = V*S_pinv*Ut*v_in

        //first we calculate Ut*v_in
        for (i=0;i<jac.columns();i++) {
            sum = 0.0;
            for (j=0;j<jac.rows();j++) {
                sum+= U[j](i)*v_in(j);
            }
            //If the singular value is too small (<eps), don't invert it but
            //set the inverted singular value to zero (truncated svd)
            tmp(i) = sum*(fabs(S(i))<eps?0.0:1.0/S(i));
        }
        //tmp is now: tmp=S_pinv*Ut*v_in, we still have to premultiply
        //it with V to get qdot_out
        for (i=0;i<jac.columns();i++) {
            sum = 0.0;
            for (j=0;j<jac.columns();j++) {
                sum+=V[i](j)*tmp(j);
            }
            //Put the result in qdot_out
            qdot_out(i)=sum;
        }
        
        //Now onto NULL space
        
        for(i = 0; i < jac.columns(); i++)
            tmp(i) = weights(i)*(opt_pos(i) - q_in(i));
        
        //Vtn*tmp
        for (i=jac.rows()+1;i<jac.columns();i++) {
            tmp2(i-(jac.rows()+1)) = 0.0;
            for (j=0;j<jac.columns();j++) {
                tmp2(i-(jac.rows()+1)) +=V[j](i)*tmp(j);
            }
        }
        
        for (i=0;i<jac.columns();i++) {
            sum = 0.0;
            for (j=jac.rows()+1;j<jac.columns();j++) {
                sum +=V[i](j)*tmp2(j);
            }
            qdot_out(i) += alpha*sum;
        }
        
        //return the return value of the svd decomposition
        return ret;
    }
    
        int ChainIkSolverVel_pinv_nso::setWeights(const JntArray & _weights)
        {
                weights = _weights;
                return 0;
        }
        int ChainIkSolverVel_pinv_nso::setOptPos(const JntArray & _opt_pos)
        {
                opt_pos = _opt_pos;
                return 0;
        }
        int ChainIkSolverVel_pinv_nso::setAlpha(const double _alpha)
        {
                alpha = _alpha;
                return 0;
        }


}