trac_ik.hpp

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#ifndef TRAC_IK_HPP
#define TRAC_IK_HPP

#include <trac_ik/nlopt_ik.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <boost/thread.hpp>
#include <boost/asio.hpp>
#include <boost/scoped_ptr.hpp>


namespace TRAC_IK {

  enum SolveType { Speed, Distance, Manip1, Manip2 };

  class TRAC_IK 
  {
  public:
    TRAC_IK(const KDL::Chain& _chain, const KDL::JntArray& _q_min, const KDL::JntArray& _q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed);

    TRAC_IK(const std::string& base_link, const std::string& tip_link, const std::string& URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed);

    ~TRAC_IK();

    bool getKDLChain(KDL::Chain& chain_) {
      chain_=chain;
      return initialized;
    }

    bool getKDLLimits(KDL::JntArray& lb_, KDL::JntArray& ub_) {
      lb_=lb;
      ub_=ub;
      return initialized;
    }


    static double JointErr(const KDL::JntArray& arr1, const KDL::JntArray& arr2) {
      double err = 0;
      for (uint i=0; i<arr1.data.size(); i++) {
        err += pow(arr1(i) - arr2(i),2);
      }
      
      return err;
    }

    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 SetSolveType(SolveType _type) {
      solvetype = _type;
    }

  private:
    bool initialized;
    KDL::Chain chain;
    KDL::JntArray lb, ub;
    boost::scoped_ptr<KDL::ChainJntToJacSolver> jacsolver;
    double eps;
    double maxtime;
    SolveType solvetype;

    boost::scoped_ptr<NLOPT_IK::NLOPT_IK> nl_solver;
    boost::scoped_ptr<KDL::ChainIkSolverPos_TL> iksolver;

    boost::posix_time::ptime start_time;

    bool runKDL(const KDL::JntArray &q_init, const KDL::Frame &p_in);


    bool runNLOPT(const KDL::JntArray &q_init, const KDL::Frame &p_in);

    void normalize_seed(const KDL::JntArray& seed, KDL::JntArray& solution);
    void normalize_limits(const KDL::JntArray& seed, KDL::JntArray& solution);

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

    boost::mutex mtx_;
    std::vector<KDL::JntArray> solutions;
    std::vector<std::pair<double,uint> >  errors; 


    boost::asio::io_service io_service;
    boost::thread_group threads;
    boost::asio::io_service::work work;
    KDL::Twist bounds;

    bool unique_solution(const KDL::JntArray& sol);

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

    /* @brief Manipulation metrics and penalties taken from "Workspace
    Geometric Characterization and Manipulability of Industrial Robots",
    Ming-June, Tsia, PhD Thesis, Ohio State University, 1986. 
    https://etd.ohiolink.edu/!etd.send_file?accession=osu1260297835
    */
    double manipPenalty(const KDL::JntArray&); 
    double ManipValue1(const KDL::JntArray&); 
    double ManipValue2(const KDL::JntArray&);

    inline bool myEqual(const KDL::JntArray& a, const KDL::JntArray& b) {
      return (a.data-b.data).isZero(1e-4);
    }

    void initialize();

  };

}

#endif