cob_twist_controller: inverse_differential_kinematics

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00001 /*
00002  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *   http://www.apache.org/licenses/LICENSE-2.0
00009 
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 
00018 #ifndef COB_TWIST_CONTROLLER_INVERSE_DIFFERENTIAL_KINEMATICS_SOLVER_H
00019 #define COB_TWIST_CONTROLLER_INVERSE_DIFFERENTIAL_KINEMATICS_SOLVER_H
00020 
00021 #include <kdl/chainjnttojacsolver.hpp>
00022 #include <kdl/chainfksolvervel_recursive.hpp>
00023 #include <Eigen/Core>
00024 #include <Eigen/Geometry>
00025 
00026 #include "cob_twist_controller/cob_twist_controller_data_types.h"
00027 #include "cob_twist_controller/callback_data_mediator.h"
00028 #include "cob_twist_controller/limiters/limiter.h"
00029 #include "cob_twist_controller/kinematic_extensions/kinematic_extension_builder.h"
00030 #include "cob_twist_controller/constraint_solvers/constraint_solver_factory.h"
00031 #include "cob_twist_controller/task_stack/task_stack_controller.h"
00032 
00042 class InverseDifferentialKinematicsSolver
00043 {
00044 public:
00052     InverseDifferentialKinematicsSolver(const TwistControllerParams& params, const KDL::Chain& chain, CallbackDataMediator& data_mediator) :
00053         params_(params),
00054         limiter_params_(params_.limiter_params),
00055         chain_(chain),
00056         jac_(chain_.getNrOfJoints()),
00057         jnt2jac_(chain_),
00058         fk_solver_vel_(chain_),
00059         callback_data_mediator_(data_mediator),
00060         constraint_solver_factory_(data_mediator, jnt2jac_, fk_solver_vel_, task_stack_controller_)
00061     {
00062         this->kinematic_extension_.reset(KinematicExtensionBuilder::createKinematicExtension(this->params_));
00063         this->limiter_params_ = this->kinematic_extension_->adjustLimiterParams(this->limiter_params_);
00064 
00065         this->limiters_.reset(new LimiterContainer(this->limiter_params_));
00066         this->limiters_->init();
00067     }
00068 
00069     virtual ~InverseDifferentialKinematicsSolver()
00070     {
00071         this->limiters_.reset();
00072         this->kinematic_extension_.reset();
00073     };
00074 
00076     virtual int CartToJnt(const JointStates& joint_states,
00077                           const KDL::Twist& v_in,
00078                           KDL::JntArray& qdot_out);
00079 
00080     void resetAll(TwistControllerParams params);
00081 
00082 private:
00083     const KDL::Chain chain_;
00084     KDL::Jacobian jac_;
00085     KDL::ChainFkSolverVel_recursive fk_solver_vel_;
00086     KDL::ChainJntToJacSolver jnt2jac_;
00087     TwistControllerParams params_;
00088     LimiterParams limiter_params_;
00089     CallbackDataMediator& callback_data_mediator_;
00090     boost::shared_ptr<LimiterContainer> limiters_;
00091     boost::shared_ptr<KinematicExtensionBase> kinematic_extension_;
00092     ConstraintSolverFactory constraint_solver_factory_;
00093 
00094     TaskStackController_t task_stack_controller_;
00095 };
00096 
00097 #endif  // COB_TWIST_CONTROLLER_INVERSE_DIFFERENTIAL_KINEMATICS_SOLVER_H