chainiksolver_pos_lma_jl_mimic.h

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/* Author: Francisco Suarez-Ruiz */

#ifndef KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H
#define KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H

#include "kdl/chainiksolverpos_lma.hpp"  // Solver for the inverse position kinematics that uses Levenberg-Marquardt.
#include "kdl/chainfksolver.hpp"

#include <moveit/lma_kinematics_plugin/joint_mimic.h>

namespace KDL
{
class ChainIkSolverPos_LMA_JL_Mimic : public ChainIkSolverPos
{
public:
  ChainIkSolverPos_LMA_JL_Mimic(const Chain& chain, const JntArray& q_min, const JntArray& q_max,
                                ChainFkSolverPos& fksolver, ChainIkSolverPos_LMA& iksolver, unsigned int maxiter = 100,
                                double eps = 1e-6, bool position_ik = false);

  ~ChainIkSolverPos_LMA_JL_Mimic();

  virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);

  virtual int CartToJntAdvanced(const JntArray& q_init, const Frame& p_in, JntArray& q_out, bool lock_redundant_joints);

  bool setMimicJoints(const std::vector<lma_kinematics_plugin::JointMimic>& mimic_joints);

private:
  const Chain chain;
  JntArray q_min;        // These are the limits for the "reduced" state consisting of only active DOFs
  JntArray q_min_mimic;  // These are the limits for the full state
  JntArray q_max;        // These are the limits for the "reduced" state consisting of only active DOFs
  JntArray q_max_mimic;  // These are the limits for the full state
  JntArray q_temp;
  ChainFkSolverPos& fksolver;
  ChainIkSolverPos_LMA& iksolver;
  JntArray delta_q;
  Frame f;
  Twist delta_twist;
  unsigned int maxiter;
  double eps;
  std::vector<lma_kinematics_plugin::JointMimic> mimic_joints;
  void qToqMimic(const JntArray& q,
                 JntArray& q_result);  // Convert from the "reduced" state (only active DOFs) to the "full" state
  void qMimicToq(const JntArray& q, JntArray& q_result);  // Convert from the "full" state to the "reduced" state
  void harmonize(JntArray& q_out);                        // Puts the angles within [-2PI, 2PI]
  bool obeysLimits(const KDL::JntArray& q_out);           // Checks that a set of joint angles obey the urdf limits
  bool position_ik;
};
}

#endif