trac_ik.hpp
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30 
31 
32 #ifndef TRAC_IK_HPP
33 #define TRAC_IK_HPP
34 
35 #include <trac_ik/nlopt_ik.hpp>
36 #include <kdl/chainjnttojacsolver.hpp>
37 #include <thread>
38 #include <mutex>
39 #include <memory>
40 #include <boost/date_time.hpp>
41 
42 namespace TRAC_IK
43 {
44 
46 
47 class TRAC_IK
48 {
49 public:
50  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);
51 
52  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);
53 
54  ~TRAC_IK();
55 
56  bool getKDLChain(KDL::Chain& chain_)
57  {
58  chain_ = chain;
59  return initialized;
60  }
61 
63  {
64  lb_ = lb;
65  ub_ = ub;
66  return initialized;
67  }
68 
69  // Requires a previous call to CartToJnt()
70  bool getSolutions(std::vector<KDL::JntArray>& solutions_)
71  {
72  solutions_ = solutions;
73  return initialized && !solutions.empty();
74  }
75 
76  bool getSolutions(std::vector<KDL::JntArray>& solutions_, std::vector<std::pair<double, uint> >& errors_)
77  {
78  errors_ = errors;
79  return getSolutions(solutions);
80  }
81 
83  {
84  lb = lb_;
85  ub = ub_;
86  nl_solver.reset(new NLOPT_IK::NLOPT_IK(chain, lb, ub, maxtime, eps, NLOPT_IK::SumSq));
87  iksolver.reset(new KDL::ChainIkSolverPos_TL(chain, lb, ub, maxtime, eps, true, true));
88  return true;
89  }
90 
91  static double JointErr(const KDL::JntArray& arr1, const KDL::JntArray& arr2)
92  {
93  double err = 0;
94  for (uint i = 0; i < arr1.data.size(); i++)
95  {
96  err += pow(arr1(i) - arr2(i), 2);
97  }
98 
99  return err;
100  }
101 
102  int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist& bounds = KDL::Twist::Zero());
103 
104  inline void SetSolveType(SolveType _type)
105  {
106  solvetype = _type;
107  }
108 
109 private:
113  std::unique_ptr<KDL::ChainJntToJacSolver> jacsolver;
114  double eps;
115  double maxtime;
117 
118  std::unique_ptr<NLOPT_IK::NLOPT_IK> nl_solver;
119  std::unique_ptr<KDL::ChainIkSolverPos_TL> iksolver;
120 
121  boost::posix_time::ptime start_time;
122 
123  template<typename T1, typename T2>
124  bool runSolver(T1& solver, T2& other_solver,
125  const KDL::JntArray &q_init,
126  const KDL::Frame &p_in);
127 
128  bool runKDL(const KDL::JntArray &q_init, const KDL::Frame &p_in);
129  bool runNLOPT(const KDL::JntArray &q_init, const KDL::Frame &p_in);
130 
131  void normalize_seed(const KDL::JntArray& seed, KDL::JntArray& solution);
132  void normalize_limits(const KDL::JntArray& seed, KDL::JntArray& solution);
133 
134  std::vector<KDL::BasicJointType> types;
135 
136  std::mutex mtx_;
137  std::vector<KDL::JntArray> solutions;
138  std::vector<std::pair<double, uint> > errors;
139 
140  std::thread task1, task2;
142 
143  bool unique_solution(const KDL::JntArray& sol);
144 
145  inline static double fRand(double min, double max)
146  {
147  double f = (double)rand() / RAND_MAX;
148  return min + f * (max - min);
149  }
150 
151  /* @brief Manipulation metrics and penalties taken from "Workspace
152  Geometric Characterization and Manipulability of Industrial Robots",
153  Ming-June, Tsia, PhD Thesis, Ohio State University, 1986.
154  https://etd.ohiolink.edu/!etd.send_file?accession=osu1260297835
155  */
156  double manipPenalty(const KDL::JntArray&);
157  double ManipValue1(const KDL::JntArray&);
158  double ManipValue2(const KDL::JntArray&);
159 
160  inline bool myEqual(const KDL::JntArray& a, const KDL::JntArray& b)
161  {
162  return (a.data - b.data).isZero(1e-4);
163  }
164 
165  void initialize();
166 
167 };
168 
169 inline bool TRAC_IK::runKDL(const KDL::JntArray &q_init, const KDL::Frame &p_in)
170 {
171  return runSolver(*iksolver.get(), *nl_solver.get(), q_init, p_in);
172 }
173 
174 inline bool TRAC_IK::runNLOPT(const KDL::JntArray &q_init, const KDL::Frame &p_in)
175 {
176  return runSolver(*nl_solver.get(), *iksolver.get(), q_init, p_in);
177 }
178 
179 }
180 
181 #endif
bool myEqual(const KDL::JntArray &a, const KDL::JntArray &b)
Definition: trac_ik.hpp:160
SolveType solvetype
Definition: trac_ik.hpp:116
static Twist Zero()
bool getKDLLimits(KDL::JntArray &lb_, KDL::JntArray &ub_)
Definition: trac_ik.hpp:62
KDL::Twist bounds
Definition: trac_ik.hpp:141
f
ROSCONSOLE_DECL void initialize()
KDL::Chain chain
Definition: trac_ik.hpp:111
std::vector< KDL::JntArray > solutions
Definition: trac_ik.hpp:137
std::unique_ptr< KDL::ChainIkSolverPos_TL > iksolver
Definition: trac_ik.hpp:119
std::mutex mtx_
Definition: trac_ik.hpp:136
bool setKDLLimits(KDL::JntArray &lb_, KDL::JntArray &ub_)
Definition: trac_ik.hpp:82
std::unique_ptr< NLOPT_IK::NLOPT_IK > nl_solver
Definition: trac_ik.hpp:118
std::vector< std::pair< double, uint > > errors
Definition: trac_ik.hpp:138
std::vector< KDL::BasicJointType > types
Definition: trac_ik.hpp:134
std::unique_ptr< KDL::ChainJntToJacSolver > jacsolver
Definition: trac_ik.hpp:113
static double JointErr(const KDL::JntArray &arr1, const KDL::JntArray &arr2)
Definition: trac_ik.hpp:91
Eigen::VectorXd data
static double fRand(double min, double max)
Definition: trac_ik.hpp:145
void SetSolveType(SolveType _type)
Definition: trac_ik.hpp:104
boost::posix_time::ptime start_time
Definition: trac_ik.hpp:121
std::thread task2
Definition: trac_ik.hpp:140
INLINE Rall1d< T, V, S > pow(const Rall1d< T, V, S > &arg, double m)
bool getSolutions(std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_)
Definition: trac_ik.hpp:76
bool getKDLChain(KDL::Chain &chain_)
Definition: trac_ik.hpp:56
bool getSolutions(std::vector< KDL::JntArray > &solutions_)
Definition: trac_ik.hpp:70
KDL::JntArray ub
Definition: trac_ik.hpp:112


trac_ik_lib
Author(s): Patrick Beeson, Barrett Ames
autogenerated on Sat Sep 19 2020 03:40:57