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KDL/install/include/kdl/chainiksolver.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_IKSOLVER_HPP
+#define KDL_CHAIN_IKSOLVER_HPP
+
+#include "chain.hpp"
+#include "frames.hpp"
+#include "framevel.hpp"
+#include "frameacc.hpp"
+#include "jntarray.hpp"
+#include "jntarrayvel.hpp"
+#include "jntarrayacc.hpp"
+#include "solveri.hpp"
+
+namespace KDL {
+
+    /**
+	  * \brief This <strong>abstract</strong> class encapsulates the inverse
+	  * position solver for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverPos : public KDL::SolverI {
+    public:
+        /**
+         * Calculate inverse position kinematics, from cartesian
+         *coordinates to joint coordinates.
+         *
+         * @param q_init initial guess of the joint coordinates
+         * @param p_in input cartesian coordinates
+         * @param q_out output joint coordinates
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)=0;
+
+        virtual ~ChainIkSolverPos(){};
+        virtual void updateInternalDataStructures()=0;
+    };
+
+    /**
+	  * \brief This <strong>abstract</strong> class encapsulates the inverse
+	  * velocity solver for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverVel : public KDL::SolverI {
+    public:
+        /**
+         * Calculate inverse velocity kinematics, from joint positions
+         *and cartesian velocity to joint velocities.
+         *
+         * @param q_in input joint positions
+         * @param v_in input cartesian velocity
+         * @param qdot_out output joint velocities
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out)=0;
+        /**
+         * Calculate inverse position and velocity kinematics, from
+         *cartesian position and velocity to joint positions and velocities.
+         *
+         * @param q_init initial joint positions
+         * @param v_in input cartesian position and velocity
+         * @param q_out output joint position and velocity
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out)=0;
+
+        virtual ~ChainIkSolverVel(){};
+        virtual void updateInternalDataStructures()=0;
+    };
+
+    /**
+	  * \brief This <strong>abstract</strong> class encapsulates the inverse
+	  * acceleration solver for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+
+    class ChainIkSolverAcc : public KDL::SolverI {
+    public:
+        /**
+         * Calculate inverse acceleration kinematics from joint
+         * positions, joint velocities and cartesian acceleration to joint accelerations.
+         *
+         * @param q_in input joint positions
+         * @param qdot_in input joint velocities
+         * @param a_in input cartesian acceleration
+         * @param qdotdot_out output joint accelerations
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartToJnt(const JntArray& q_in, const JntArray& qdot_in, const Twist a_in,
+                         JntArray& qdotdot_out)=0;
+        /**
+         * Calculate inverse position, velocity and acceration
+         *kinematics from cartesian coordinates to joint coordinates
+         *
+         * @param q_init initial guess for joint positions
+         * @param a_in input cartesian position, velocity and acceleration
+         * @param q_out output joint position, velocity and acceleration
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartTojnt(const JntArray& q_init, const FrameAcc& a_in,
+                         JntArrayAcc& q_out)=0;
+
+        /**
+         * Calculate inverse velocity and acceleration kinematics from
+         * joint positions and cartesian velocity and acceleration to
+         * joint velocities and accelerations.
+         *
+         * @param q_in input joint positions
+         * @param v_in input cartesian velocity
+         * @param a_in input cartesian acceleration
+         * @param qdot_out output joint velocities
+         * @param qdotdot_out output joint accelerations
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, const Twist& a_in,
+                         JntArray& qdot_out, JntArray& qdotdot_out)=0;
+        /**
+         * Calculate inverse position and acceleration kinematics from
+         *joint velocities and cartesian position and acceleration to
+         *joint positions and accelerations
+         *
+         * @param q_init initial guess for joint positions
+         * @param p_in input cartesian position
+         * @param qdot_in input joint velocities
+         * @param a_in input cartesian acceleration
+         * @param q_out output joint positions
+         * @param qdotdot_out output joint accelerations
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int CartTojnt(const JntArray& q_init, const Frame& p_in, const JntArray& qdot_in, const Twist& a_in,
+                         JntArray& q_out, JntArray& qdotdot_out)=0;
+
+        virtual void updateInternalDataStructures()=0;
+        virtual ~ChainIkSolverAcc(){};
+    };
+
+
+}//end of namespace KDL
+
+#endif