chainiksolvervel_pinv_nso.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_PINV_NSO_HPP
#define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP

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

namespace KDL
{
    class ChainIkSolverVel_pinv_nso : public ChainIkSolverVel
    {
    public:
        ChainIkSolverVel_pinv_nso(const Chain& chain, const JntArray& opt_pos, const JntArray& weights, double eps=0.00001,int maxiter=150, double alpha = 0.25);
        explicit ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, double alpha = 0.25);
        ~ChainIkSolverVel_pinv_nso();

        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;};

        const JntArray& getWeights()const
        {
            return weights;
        }

        const JntArray& getOptPos()const
        {
            return opt_pos;
        }

        const double& getAlpha()const
        {
            return alpha;
        }

        virtual int setWeights(const JntArray &weights);

        virtual int setOptPos(const JntArray &opt_pos);

        virtual int setAlpha(const double alpha);

        int getSVDResult()const {return svdResult;};

        virtual void updateInternalDataStructures();

    private:
        const Chain& chain;
        ChainJntToJacSolver jnt2jac;
        unsigned int nj;
        Jacobian jac;
        Eigen::MatrixXd U;
        Eigen::VectorXd S;
        Eigen::VectorXd Sinv;
        Eigen::MatrixXd V;
        Eigen::VectorXd tmp;
        Eigen::VectorXd tmp2;
        double eps;
        int maxiter;
        int svdResult;
        double alpha;
        JntArray weights;
        JntArray opt_pos;
    };
}
#endif