chainiksolverpos_nr.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 KDLCHAINIKSOLVERPOS_NR_HPP
#define KDLCHAINIKSOLVERPOS_NR_HPP

#include "chainiksolver.hpp"
#include "chainfksolver.hpp"

namespace KDL {

    class ChainIkSolverPos_NR : public ChainIkSolverPos
    {
    public:
        static const int E_IKSOLVER_FAILED = -100; 
        static const int E_FKSOLVERPOS_FAILED = -101; 

        ChainIkSolverPos_NR(const Chain& chain,ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,
                            unsigned int maxiter=100,double eps=1e-6);
        ~ChainIkSolverPos_NR();

        virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);

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

    private:
        const Chain chain;
        unsigned int nj;
        ChainIkSolverVel& iksolver;
        ChainFkSolverPos& fksolver;
        JntArray delta_q;
        Frame f;
        Twist delta_twist;

        unsigned int maxiter;
        double eps;
    };

}

#endif