00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP 00023 #define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP 00024 00025 #include "chainiksolver.hpp" 00026 #include "chainjnttojacsolver.hpp" 00027 #include <Eigen/Core> 00028 00029 namespace KDL 00030 { 00063 class ChainIkSolverVel_wdls : public ChainIkSolverVel 00064 { 00065 public: 00066 static const int E_SVD_FAILED = -100; 00067 00068 static const int E_CONVERGE_PINV_SINGULAR = +100; 00069 00082 explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150); 00083 //=ublas::identity_matrix<double> 00084 ~ChainIkSolverVel_wdls(); 00085 00101 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out); 00106 virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;}; 00107 00130 void setWeightJS(const Eigen::MatrixXd& Mq); 00131 00155 void setWeightTS(const Eigen::MatrixXd& Mx); 00156 00160 void setLambda(const double lambda); 00164 void setEps(const double eps_in); 00168 void setMaxIter(const int maxiter_in); 00169 00175 unsigned int getNrZeroSigmas()const {return nrZeroSigmas;}; 00176 00180 double getSigmaMin()const {return sigmaMin;}; 00181 00185 double getLambda()const {return lambda;}; 00186 00191 double getLambdaScaled()const {return lambda_scaled;}; 00192 00197 int getSVDResult()const {return svdResult;}; 00198 00200 virtual const char* strError(const int error) const; 00201 00202 private: 00203 const Chain chain; 00204 ChainJntToJacSolver jnt2jac; 00205 Jacobian jac; 00206 Eigen::MatrixXd U; 00207 Eigen::VectorXd S; 00208 Eigen::MatrixXd V; 00209 double eps; 00210 int maxiter; 00211 Eigen::VectorXd tmp; 00212 Eigen::MatrixXd tmp_jac; 00213 Eigen::MatrixXd tmp_jac_weight1; 00214 Eigen::MatrixXd tmp_jac_weight2; 00215 Eigen::MatrixXd tmp_ts; 00216 Eigen::MatrixXd tmp_js; 00217 Eigen::MatrixXd weight_ts; 00218 Eigen::MatrixXd weight_js; 00219 double lambda; 00220 double lambda_scaled; 00221 unsigned int nrZeroSigmas ; 00222 int svdResult; 00223 double sigmaMin; 00224 }; 00225 } 00226 #endif 00227