treeiksolverpos_online.hpp

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// Copyright  (C)  2011  PAL Robotics S.L.  All rights reserved.
// Copyright  (C)  2007-2008  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008  Mikael Mayer
// Copyright  (C)  2008  Julia Jesse

// Version: 1.0
// Author: Marcus Liebhardt
// This class has been derived from the KDL::TreeIkSolverPos_NR_JL class
// by Julia Jesse, Mikael Mayer and Ruben Smits

// 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

#ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP
#define KDLTREEIKSOLVERPOS_ONLINE_HPP

#include <vector>
#include <string>
#include "kdl/treeiksolver.hpp"
#include "kdl/treefksolver.hpp"
#include "kdl/jntarrayvel.hpp"

namespace KDL {

class TreeIkSolverPos_Online: public TreeIkSolverPos {
public:
    TreeIkSolverPos_Online(const double& nr_of_jnts,
                           const std::vector<std::string>& endpoints,
                           TreeFkSolverPos& fksolver,
                           TreeIkSolverVel& iksolver,
                           const JntArray& q_min,
                           const JntArray& q_max,
                           const JntArray& q_dot_min,
                           const JntArray& q_dot_max,
                           const double x_dot_trans_max,
                           const double x_dot_rot_max,
                           const double x_dot_trans_min = 0.0,
                           const double x_dot_rot_min = 0.0,
                           const double low_pass_factor = 0.0,
                           const unsigned int maxiter = 100,
                           const double eps = 1e-6);

    ~TreeIkSolverPos_Online();

    virtual double CartToJnt(const JntArray& q_in, const Frames& p_in, JntArray& q_out);

    double CartToJnt_it(const JntArray& q_in, const Frames& p_in, JntArray& q_out);

private:
  bool enforceCartVelLimits();

  void enforceCartVelLimits_it(Twist& old_twist, Twist& current_twist);

  bool enforceJointVelLimits();

  void enforceJointVelLimits_it(JntArray& q_dot_old, JntArray& q_dot_current);

  void filter(JntArray& q_dot, JntArray& q_out, JntArray& q_out_old);

  TreeFkSolverPos& fksolver_;
  TreeIkSolverVel& iksolver_;
  JntArray q_min_;
  JntArray q_max_;
  JntArray q_dot_min_;
  JntArray q_dot_max_;
  double x_dot_trans_max_;
  double x_dot_rot_max_;
  double x_dot_trans_min_;
  double x_dot_rot_min_;
  double low_pass_factor_;
  unsigned int maxiter_;
  double eps_;

  JntArray q_dot_;
  Twist twist_;
  Frames frames_;
  Twists delta_twists_;
  Twists old_twists_;
  Frames frames_pos_lim_;
  Frames frames_vel_lim_;
  JntArray q_dot_old_;
  JntArray q_dot_new_;
  Frames p_in_old_;
  JntArray q_out_old_;
  double low_pass_adj_factor_;
  unsigned int nr_of_still_endeffectors_;
  bool small_task_space_movement_;
};

} // namespace

#endif /* KDLTREEIKSOLVERPOS_ONLINE_HPP */