chainiksolver_vel_pinv_mimic.h

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/* Author: Francisco Suarez-Ruiz */

#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_MIMIC_H
#define KDL_CHAIN_IKSOLVERVEL_PINV_MIMIC_H

#include "kdl/chainiksolver.hpp"
#include "kdl/chainjnttojacsolver.hpp"
#include "kdl/utilities/svd_HH.hpp"
#include "kdl/utilities/svd_eigen_HH.hpp"

#include <moveit/lma_kinematics_plugin/joint_mimic.h>

namespace KDL
{
class ChainIkSolverVel_pinv_mimic : public ChainIkSolverVel
{
public:
  explicit ChainIkSolverVel_pinv_mimic(const Chain& chain, int num_mimic_joints = 0, int num_redundant_joints = 0,
                                       bool position_ik = false, double eps = 0.00001, int maxiter = 150);

  ~ChainIkSolverVel_pinv_mimic();

  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);

  virtual int CartToJntRedundant(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);

  virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out)
  {
    return -1;
  };

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

  bool setRedundantJointsMapIndex(const std::vector<unsigned int>& redundant_joints_map_index);

  void lockRedundantJoints()
  {
    redundant_joints_locked = true;
  }

  void unlockRedundantJoints()
  {
    redundant_joints_locked = false;
  }

private:
  bool jacToJacReduced(const Jacobian& jac, Jacobian& jac_mimic);
  bool jacToJacLocked(const Jacobian& jac, Jacobian& jac_locked);

  const Chain chain;
  ChainJntToJacSolver jnt2jac;

  // This set of variables are all used in the default case, i.e. where we are solving for the
  // full end-effector pose
  Jacobian jac;
  std::vector<JntArray> U;
  JntArray S;
  std::vector<JntArray> V;
  JntArray tmp;

  // This is the "reduced" jacobian, i.e. the contributions of the mimic joints have been mapped onto
  // the active DOFs here
  Jacobian jac_reduced;
  JntArray qdot_out_reduced;

  // This is the set of variable used when solving for position only inverse kinematics
  Eigen::MatrixXd U_translate;
  Eigen::VectorXd S_translate;
  Eigen::MatrixXd V_translate;
  Eigen::VectorXd tmp_translate;

  // This is the jacobian when the redundant joint is "locked" and plays no part
  Jacobian jac_locked;
  JntArray qdot_out_reduced_locked, qdot_out_locked;

  SVD_HH svd;
  double eps;
  int maxiter;

  // Mimic joint specific
  std::vector<lma_kinematics_plugin::JointMimic> mimic_joints_;
  int num_mimic_joints;

  bool position_ik;

  // This is the set of variable used when solving for inverse kinematics
  // for the case where the redundant joint is "locked" and plays no part
  Eigen::MatrixXd U_locked;
  Eigen::VectorXd S_locked;
  Eigen::MatrixXd V_locked;
  Eigen::VectorXd tmp_locked;

  // This is the set of variable used when solving for position only inverse kinematics
  // for the case where the redundant joint is "locked" and plays no part
  Eigen::MatrixXd U_translate_locked;
  Eigen::VectorXd S_translate_locked;
  Eigen::MatrixXd V_translate_locked;
  Eigen::VectorXd tmp_translate_locked;

  // Internal storage for a map from the "locked" state to the full active state
  std::vector<unsigned int> locked_joints_map_index;
  unsigned int num_redundant_joints;
  bool redundant_joints_locked;
};
}
#endif