nlopt_ik.hpp

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#ifndef NLOPT_IK_HPP
#define NLOPT_IK_HPP
 
#include <trac_ik/kdl_tl.hpp>
#include <nlopt.hpp>
 

namespace NLOPT_IK {

  enum OptType { Joint, DualQuat, SumSq, L2 };


  class NLOPT_IK 
  {
    friend class TRAC_IK::TRAC_IK;
  public:
    NLOPT_IK(const KDL::Chain& chain,const KDL::JntArray& q_min, const KDL::JntArray& q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq);

    ~NLOPT_IK() {};
    int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray& q_desired=KDL::JntArray());

    double minJoints(const std::vector<double>& x, std::vector<double>& grad);
    //  void cartFourPointError(const std::vector<double>& x, double error[]);
    void cartSumSquaredError(const std::vector<double>& x, double error[]);
    void cartDQError(const std::vector<double>& x, double error[]);
    void cartL2NormError(const std::vector<double>& x, double error[]);

    inline void setMaxtime(double t) { maxtime = t; }

  private:

    inline void abort() {
      aborted = true;
    }

    inline void reset() {
      aborted = false;
    }
    

    std::vector<double> lb;
    std::vector<double> ub;

    const KDL::Chain chain;
    std::vector<double> des;


    KDL::ChainFkSolverPos_recursive fksolver;

    double maxtime;
    double eps;
    int iter_counter; 
    OptType TYPE;

    KDL::Frame targetPose;
    KDL::Frame z_up ;
    KDL::Frame x_out;
    KDL::Frame y_out;
    KDL::Frame z_target;
    KDL::Frame x_target;
    KDL::Frame y_target;
    
    std::vector<KDL::BasicJointType> types;

    nlopt::opt opt;

    KDL::Frame currentPose;

    std::vector<double> best_x;
    int progress;
    bool aborted;

    KDL::Twist bounds;

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


  };

}
 
#endif