chainiksolvervel_wdls.hpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
#define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP

#include "chainiksolver.hpp"
#include "chainjnttojacsolver.hpp"
#include <Eigen/Core>

namespace KDL
{
    class ChainIkSolverVel_wdls : public ChainIkSolverVel
    {
    public:
        static const int E_CONVERGE_PINV_SINGULAR = +100;

        explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150);
        //=ublas::identity_matrix<double>
        ~ChainIkSolverVel_wdls();

        virtual int CartToJnt(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;};

        int setWeightJS(const Eigen::MatrixXd& Mq);

        int setWeightTS(const Eigen::MatrixXd& Mx);

        void setLambda(const double lambda);
        void setEps(const double eps_in);
        void setMaxIter(const int maxiter_in);

        unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};

        double getSigmaMin()const {return sigmaMin;};

        int getSigma(Eigen::VectorXd& Sout);

        double getEps()const {return eps;};

        double getLambda()const {return lambda;};

        double getLambdaScaled()const {return lambda_scaled;};

        int getSVDResult()const {return svdResult;};

        virtual const char* strError(const int error) const;

        virtual void updateInternalDataStructures();

    private:
        const Chain& chain;
        ChainJntToJacSolver jnt2jac;
        unsigned int nj;
        Jacobian jac;
        Eigen::MatrixXd U;
        Eigen::VectorXd S;
        Eigen::MatrixXd V;
        double eps;
        int maxiter;
        Eigen::VectorXd tmp;
        Eigen::MatrixXd tmp_jac;
        Eigen::MatrixXd tmp_jac_weight1;
        Eigen::MatrixXd tmp_jac_weight2;
        Eigen::MatrixXd tmp_ts;
        Eigen::MatrixXd tmp_js;
        Eigen::MatrixXd weight_ts;
        Eigen::MatrixXd weight_js;
        double lambda;
        double lambda_scaled;
        unsigned int nrZeroSigmas ;
        int svdResult;
        double sigmaMin;
    };
}
#endif