chainiksolverpos_nr_jl_coupling.cpp

Go to the documentation of this file.

// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008  Mikael Mayer
// Copyright  (C)  2008  Julia Jesse

// 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

// Modified by Juan A. Corrales (ISIR, UPMC) in order to include coupling

// 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

#include <kdl_coupling/chainiksolverpos_nr_jl_coupling.hpp>
#include <kdl_coupling/chainiksolvervel_wdls_coupling.hpp>

namespace KDL
{
  ChainIkSolverPos_NR_JL_coupling::ChainIkSolverPos_NR_JL_coupling(const Chain_coupling &_chain, const JntArray &_q_min,
                                                                   const JntArray &_q_max, ChainFkSolverPos &_fksolver,
                                                                   ChainIkSolverVel &_iksolver,
                                                                   unsigned int _maxiter, double _eps) :
          chain(_chain), q_min(chain.getNrOfJoints()), q_max(chain.getNrOfJoints()), fksolver(_fksolver),
          iksolver(_iksolver), delta_q(_chain.getNrOfJoints()),
          maxiter(_maxiter), eps(_eps)
  {
    q_min = _q_min;
    q_max = _q_max;
  }

  int ChainIkSolverPos_NR_JL_coupling::CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
  {
    q_out = q_init;
    Twist delta_twist_temp;
    unsigned int i;
    for (i = 0; i < maxiter; i++)
    {
      fksolver.JntToCart(q_out, f);
      delta_twist = diff(f, p_in);
      delta_twist_temp = delta_twist;

      ChainIkSolverVel_wdls_coupling *iksolver_wdls;
      iksolver_wdls = dynamic_cast<ChainIkSolverVel_wdls_coupling *> (&iksolver);
      if (iksolver_wdls != NULL)  // Verify Mx matrix if ik velocity solver is based on WDLS
      {
        Eigen::MatrixXd Mx = iksolver_wdls->getWeightTS();
        // Remove the error of those components which are null in Mx matrix.
        // This is usually used to neglect the error of one or several components of the pose.
        // Thereby, a solution of 3D inverse kinematics (only position or only orientation) can be obtained.
        if (Mx(0, 0) == 0.0)
        {
          delta_twist_temp.vel.x(0.0);
        }
        if (Mx(1, 1) == 0.0)
        {
          delta_twist_temp.vel.y(0.0);
        }
        if (Mx(2, 2) == 0.0)
        {
          delta_twist_temp.vel.z(0.0);
        }
        if (Mx(3, 3) == 0.0)
        {
          delta_twist_temp.rot.x(0.0);
        }
        if (Mx(4, 4) == 0.0)
        {
          delta_twist_temp.rot.y(0.0);
        }
        if (Mx(5, 5) == 0.0)
        {
          delta_twist_temp.rot.z(0.0);
        }
      }

      if (Equal(delta_twist_temp, Twist::Zero(), eps))
      {
        break;
      }

      iksolver.CartToJnt(q_out, delta_twist, delta_q);
      Add(q_out, delta_q, q_out);

      for (unsigned int j = 0; j < q_min.rows(); j++)
      {
        if (q_out(j) < q_min(j))
        {
          q_out(j) = q_min(j);
        }
      }


      for (unsigned int j = 0; j < q_max.rows(); j++)
      {
        if (q_out(j) > q_max(j))
        {
          q_out(j) = q_max(j);
        }
      }
    }

    if (i != maxiter)
    {
      return 0;
    }
    else
    {
      return -3;
    }
  }

  ChainIkSolverPos_NR_JL_coupling::~ChainIkSolverPos_NR_JL_coupling()
  {
  }
}  // namespace KDL