chainiksolvervel_pinv.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_HPP
#define KDL_CHAIN_IKSOLVERVEL_PINV_HPP

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

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

        explicit ChainIkSolverVel_pinv(const Chain& chain,double eps=0.00001,int maxiter=150);
        ~ChainIkSolverVel_pinv();

        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 (error = E_NOT_IMPLEMENTED);};

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

        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;
        SVD_HH svd;
        std::vector<JntArray> U;
        JntArray S;
        std::vector<JntArray> V;
        JntArray tmp;
        double eps;
        int maxiter;
        unsigned int nrZeroSigmas;
        int svdResult;

    };
}
#endif