goal_tool_orientation.cpp

Go to the documentation of this file.

#include "constrained_ik/constrained_ik.h"
#include "constrained_ik/constraints/goal_tool_orientation.h"
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(constrained_ik::constraints::GoalToolOrientation, constrained_ik::Constraint)

namespace constrained_ik
{
namespace constraints
{

using namespace Eigen;

// initialize limits/tolerances to default values
GoalToolOrientation::GoalToolOrientation() : GoalOrientation()
{
}

constrained_ik::ConstraintResults GoalToolOrientation::evalConstraint(const SolverState &state) const
{
  constrained_ik::ConstraintResults output;
  GoalOrientation::GoalOrientationData cdata(state);

  output.error = calcError(cdata);
  output.jacobian = calcJacobian(cdata);
  output.status = checkStatus(cdata);

  return output;
}

Eigen::VectorXd GoalToolOrientation::calcError(const GoalOrientation::GoalOrientationData &cdata) const
{
  //rotate jacobian into tool frame by premultiplying by otR.transpose()
  Vector3d err = cdata.state_.pose_estimate.rotation().transpose() * calcAngleError(cdata.state_.pose_estimate, cdata.state_.goal);

  err = err.cwiseProduct(weight_);
  ROS_ASSERT(err.rows() == 3);
  return err;
}

// translate cartesian errors into joint-space errors
Eigen::MatrixXd GoalToolOrientation::calcJacobian(const GoalOrientation::GoalOrientationData &cdata) const
{
  MatrixXd tmpJ;
  if (!ik_->getKin().calcJacobian(cdata.state_.joints, tmpJ))
    throw std::runtime_error("Failed to calculate Jacobian");

  //rotate jacobian into tool frame by premultiplying by otR.transpose()
  MatrixXd J = cdata.state_.pose_estimate.rotation().transpose() * tmpJ.bottomRows(3);

  // weight each row of J
  for (size_t ii=0; ii<3; ++ii)
      J.row(ii) *= weight_(ii);

  ROS_ASSERT(J.rows() == 3);
  return J;
}

} // namespace constraints
} // namespace constrained_ik