chainiksolver_pos_lma_jl_mimic.h
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00034 
00035 /* Author: Francisco Suarez-Ruiz */
00036 
00037 #ifndef KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H
00038 #define KDLCHAINIKSOLVERPOS_LMA_JL_MIMIC_H
00039 
00040 #include "kdl/chainiksolverpos_lma.hpp"  // Solver for the inverse position kinematics that uses Levenberg-Marquardt.
00041 #include "kdl/chainfksolver.hpp"
00042 
00043 #include <moveit/lma_kinematics_plugin/joint_mimic.h>
00044 
00045 namespace KDL
00046 {
00055 class ChainIkSolverPos_LMA_JL_Mimic : public ChainIkSolverPos
00056 {
00057 public:
00075   ChainIkSolverPos_LMA_JL_Mimic(const Chain& chain, const JntArray& q_min, const JntArray& q_max,
00076                                 ChainFkSolverPos& fksolver, ChainIkSolverPos_LMA& iksolver, unsigned int maxiter = 100,
00077                                 double eps = 1e-6, bool position_ik = false);
00078 
00079   ~ChainIkSolverPos_LMA_JL_Mimic();
00080 
00081   virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
00082 
00083   virtual int CartToJntAdvanced(const JntArray& q_init, const Frame& p_in, JntArray& q_out, bool lock_redundant_joints);
00084 
00085   bool setMimicJoints(const std::vector<lma_kinematics_plugin::JointMimic>& mimic_joints);
00086 
00087 private:
00088   const Chain chain;
00089   JntArray q_min;        // These are the limits for the "reduced" state consisting of only active DOFs
00090   JntArray q_min_mimic;  // These are the limits for the full state
00091   JntArray q_max;        // These are the limits for the "reduced" state consisting of only active DOFs
00092   JntArray q_max_mimic;  // These are the limits for the full state
00093   JntArray q_temp;
00094   ChainFkSolverPos& fksolver;
00095   ChainIkSolverPos_LMA& iksolver;
00096   JntArray delta_q;
00097   Frame f;
00098   Twist delta_twist;
00099   unsigned int maxiter;
00100   double eps;
00101   std::vector<lma_kinematics_plugin::JointMimic> mimic_joints;
00102   void qToqMimic(const JntArray& q,
00103                  JntArray& q_result);  // Convert from the "reduced" state (only active DOFs) to the "full" state
00104   void qMimicToq(const JntArray& q, JntArray& q_result);  // Convert from the "full" state to the "reduced" state
00105   void harmonize(JntArray& q_out);                        // Puts the angles within [-2PI, 2PI]
00106   bool obeysLimits(const KDL::JntArray& q_out);           // Checks that a set of joint angles obey the urdf limits
00107   bool position_ik;
00108 };
00109 }
00110 
00111 #endif


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Fri Apr 20 2018 03:31:47