chainiksolver_vel_pinv_mimic.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

// Modified to account for "mimic" joints, i.e. joints whose motion has a
// linear relationship to that of another joint.
// Copyright  (C)  2013  Sachin Chitta, Willow Garage

#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_Mimic_HPP
#define KDL_CHAIN_IKSOLVERVEL_PINV_Mimic_HPP

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

#include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>

namespace KDL
{
class ChainIkSolverVel_pinv_mimic : public ChainIkSolverVel
{
public:
  explicit ChainIkSolverVel_pinv_mimic(const Chain& chain, int num_mimic_joints =0, int num_redundant_joints =0, bool position_ik=false, double eps=0.00001, int maxiter=150);

  ~ChainIkSolverVel_pinv_mimic();

  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);

  virtual int CartToJntRedundant(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;};

  bool setMimicJoints(const std::vector<kdl_kinematics_plugin::JointMimic> &_mimic_joints);

  bool setRedundantJointsMapIndex(const std::vector<unsigned int> & redundant_joints_map_index);

  void lockRedundantJoints()
  {
    redundant_joints_locked = true;
  }

  void unlockRedundantJoints()
  {
    redundant_joints_locked = false;
  }

private:

  bool jacToJacReduced(const Jacobian &jac, Jacobian &jac_mimic);
  bool jacToJacLocked(const Jacobian &jac, Jacobian &jac_locked);

  const Chain chain;
  ChainJntToJacSolver jnt2jac;

  // This set of variables are all used in the default case, i.e. where we are solving for the
  // full end-effector pose
  Jacobian jac;
  std::vector<JntArray> U;
  JntArray S;
  std::vector<JntArray> V;
  JntArray tmp;

  // This is the "reduced" jacobian, i.e. the contributions of the mimic joints have been mapped onto
  // the active DOFs here
  Jacobian jac_reduced;
  JntArray qdot_out_reduced;

  // This is the set of variable used when solving for position only inverse kinematics
  Eigen::MatrixXd U_translate;
  Eigen::VectorXd S_translate;
  Eigen::MatrixXd V_translate;
  Eigen::VectorXd tmp_translate;

  // This is the jacobian when the redundant joint is "locked" and plays no part
  Jacobian jac_locked;
  JntArray qdot_out_reduced_locked, qdot_out_locked;

  SVD_HH svd;
  double eps;
  int maxiter;

  // Mimic joint specific
  std::vector<kdl_kinematics_plugin::JointMimic> mimic_joints_;
  int num_mimic_joints;

  bool position_ik;

  // This is the set of variable used when solving for inverse kinematics
  // for the case where the redundant joint is "locked" and plays no part
  Eigen::MatrixXd U_locked;
  Eigen::VectorXd S_locked;
  Eigen::MatrixXd V_locked;
  Eigen::VectorXd tmp_locked;

  // This is the set of variable used when solving for position only inverse kinematics
  // for the case where the redundant joint is "locked" and plays no part
  Eigen::MatrixXd U_translate_locked;
  Eigen::VectorXd S_translate_locked;
  Eigen::MatrixXd V_translate_locked;
  Eigen::VectorXd tmp_translate_locked;

  // Internal storage for a map from the "locked" state to the full active state
  std::vector<unsigned int> locked_joints_map_index;
  unsigned int num_redundant_joints;
  bool redundant_joints_locked;


};
}
#endif