goal_tool_orientation.cpp

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2013, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "constrained_ik/constrained_ik.h"
#include "constrained_ik/constraints/goal_tool_orientation.h"
#include <ros/ros.h>

namespace constrained_ik
{
namespace constraints
{

using namespace Eigen;

// initialize limits/tolerances to default values
GoalToolOrientation::GoalToolOrientation() : GoalOrientation()
{
}

Eigen::VectorXd GoalToolOrientation::calcError()
{
  //rotate jacobian into tool frame by premultiplying by otR.transpose()
  Vector3d err = state_.pose_estimate.rotation().transpose() * calcAngleError(state_.pose_estimate, state_.goal);

  err = err.cwiseProduct(weight_);
  ROS_ASSERT(err.rows() == 3);
  return err;
}

// translate cartesian errors into joint-space errors
Eigen::MatrixXd GoalToolOrientation::calcJacobian()
{
  MatrixXd tmpJ;
  if (!ik_->getKin().calcJacobian(state_.joints, tmpJ))
    throw std::runtime_error("Failed to calculate Jacobian");

  //rotate jacobian into tool frame by premultiplying by otR.transpose()
  MatrixXd J = state_.pose_estimate.rotation().transpose() * tmpJ.bottomRows(3);

  // weight each row of J
  for (size_t ii=0; ii<3; ++ii)
      J.row(ii) *= weight_(ii);

  ROS_ASSERT(J.rows() == 3);
  return J;
}

} // namespace constraints
} // namespace constrained_ik