kdl_tl.hpp

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#ifndef KDLCHAINIKSOLVERPOS_TL_HPP
#define KDLCHAINIKSOLVERPOS_TL_HPP

#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>

namespace TRAC_IK {
  class TRAC_IK;
}

namespace KDL {

  enum BasicJointType { RotJoint, TransJoint, Continuous };

  class ChainIkSolverPos_TL 
  {
    friend class TRAC_IK::TRAC_IK;

  public:
    ChainIkSolverPos_TL(const Chain& chain,const JntArray& q_min, const JntArray& q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false);

    ~ChainIkSolverPos_TL();

    int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out, const KDL::Twist bounds=KDL::Twist::Zero());

    inline void setMaxtime(double t) { maxtime = t; }
      
  private:
    const Chain chain;
    JntArray q_min;
    JntArray q_max;

    KDL::Twist bounds;

    KDL::ChainIkSolverVel_pinv vik_solver;
    KDL::ChainFkSolverPos_recursive fksolver;
    JntArray delta_q;
    double maxtime;

    double eps;
    
    bool rr;
    bool wrap;

    std::vector<KDL::BasicJointType> types;

    inline void abort() {
      aborted = true;
    }

    inline void reset() {
      aborted = false;
    }

    bool aborted;

    Frame f;
    Twist delta_twist;

    inline static double fRand(double min, double max)
    {
      double f = (double)rand() / RAND_MAX;
      return min + f * (max - min);
    }


  };

  IMETHOD Twist diffRelative(const Frame & F_a_b1, const Frame & F_a_b2, double dt = 1)
  {
      return Twist(F_a_b1.M.Inverse() * diff(F_a_b1.p, F_a_b2.p, dt),
                   F_a_b1.M.Inverse() * diff(F_a_b1.M, F_a_b2.M, dt));
  }

}

#endif