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: 00067 static const int E_CONVERGE_PINV_SINGULAR = +100; 00068 00081 explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150); 00082 //=ublas::identity_matrix<double> 00083 ~ChainIkSolverVel_wdls(); 00084 00100 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out); 00105 virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;}; 00106 00131 int setWeightJS(const Eigen::MatrixXd& Mq); 00132 00158 int setWeightTS(const Eigen::MatrixXd& Mx); 00159 00163 void setLambda(const double lambda); 00167 void setEps(const double eps_in); 00171 void setMaxIter(const int maxiter_in); 00172 00178 unsigned int getNrZeroSigmas()const {return nrZeroSigmas;}; 00179 00183 double getSigmaMin()const {return sigmaMin;}; 00184 00188 int getSigma(Eigen::VectorXd& Sout); 00189 00193 double getEps()const {return eps;}; 00194 00198 double getLambda()const {return lambda;}; 00199 00204 double getLambdaScaled()const {return lambda_scaled;}; 00205 00210 int getSVDResult()const {return svdResult;}; 00211 00213 virtual const char* strError(const int error) const; 00214 00216 virtual void updateInternalDataStructures(); 00217 00218 private: 00219 const Chain& chain; 00220 ChainJntToJacSolver jnt2jac; 00221 unsigned int nj; 00222 Jacobian jac; 00223 Eigen::MatrixXd U; 00224 Eigen::VectorXd S; 00225 Eigen::MatrixXd V; 00226 double eps; 00227 int maxiter; 00228 Eigen::VectorXd tmp; 00229 Eigen::MatrixXd tmp_jac; 00230 Eigen::MatrixXd tmp_jac_weight1; 00231 Eigen::MatrixXd tmp_jac_weight2; 00232 Eigen::MatrixXd tmp_ts; 00233 Eigen::MatrixXd tmp_js; 00234 Eigen::MatrixXd weight_ts; 00235 Eigen::MatrixXd weight_js; 00236 double lambda; 00237 double lambda_scaled; 00238 unsigned int nrZeroSigmas ; 00239 int svdResult; 00240 double sigmaMin; 00241 }; 00242 } 00243 #endif 00244