/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/lmiOptimizer.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Andrew T. Miller
//
// $Id: lmiOptimizer.h,v 1.1 2009/07/21 19:30:27 cmatei Exp $
//
//######################################################################

#include <stdio.h>

class Grasp;


class LMIOptimizer
{
private:
  static double GFO_WEIGHT_FACTOR;

  Grasp *mGrasp;

  int numWrenches; 

  double *graspMap; 

  int nullDim;

  double *nullSpace;

  double *optmx0;   

  double *optTorques; 

  double *Jacobian;

  double *minNormSln;

  int numDOF;

  double *externalTorques; 
  
  int L, K, GPkRow, *F_blkszs,*G_blkszs;                 

  double *F, *G, *Z, *W, *c, constOffset;

  double gamma, abstol, reltol; 

  int negativeFlag;

  int feasible;

  int feasNTiters;

  int graspCounter;

  double *initz0;

  int optmNTiters;

  double *optmz0;

  double *extendOptmz0;

  double *feasZHistory; 

 // array of dimension \a (m+3)*Number_of_Iterations_at_the_Optimization_Phase, the counterpart to feasZHistory in the optimization phase.
  double *optmZHistory;

  double *extendOptmZHistory; 

  double *feasXHistory;

  double *optmXHistory;

  FILE *pRstFile;

  void minimalNorm();
  void computeNullSpace();

  void buildJacobian();

  void buildGraspMap();

  void lmiFL(double *lmi,int rowInit, int colInit, int totalRow);
  void lmiPCWF(double cof, double *lmi,int rowInit, int colInit, int totalRow);
  void lmiSFCE(double cof, double cof_t,double *lmi,int rowInit, int colInit,
               int totalRow);
  void lmiSFCL(double cof, double cof_t,double *lmi,int rowInit, int colInit,
               int totalRow);
  double *lmiTorqueLimits();
  void lmiFL();
  void lmiPWCF();
  void lmiSFCE();
  void lmiSFCL();
  double *lmiFrictionCones();

  double *weightVec();
  void feasibilityAnalysis();
  void optm_EffortBarrier();
  void computeObjectives();
  double *xzHistoryTransfrom(double *zHistory,int numIters);

public:
  LMIOptimizer(Grasp *g) : mGrasp(g) {}

  int  findOptimalGraspForce();

};

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012