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kdl_install/include/kdl/chainiksolverpos_nr_jl.hpp

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+// Copyright  (C)  2007-2008  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
+
+// 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 KDLCHAINIKSOLVERPOS_NR_JL_HPP
+#define KDLCHAINIKSOLVERPOS_NR_JL_HPP
+
+#include "chainiksolver.hpp"
+#include "chainfksolver.hpp"
+
+namespace KDL {
+
+    /**
+     * Implementation of a general inverse position kinematics
+     * algorithm based on Newton-Raphson iterations to calculate the
+     * position transformation from Cartesian to joint space of a general
+     * KDL::Chain. Takes joint limits into account.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverPos_NR_JL : public ChainIkSolverPos
+    {
+    public:
+
+        static const int E_IKSOLVERVEL_FAILED = -100; //! Child IK solver vel failed
+        static const int E_FKSOLVERPOS_FAILED = -101; //! Child FK solver failed
+
+        /**
+         * Constructor of the solver, it needs the chain, a forward
+         * position kinematics solver and an inverse velocity
+         * kinematics solver for that chain.
+         *
+         * @param chain the chain to calculate the inverse position for
+         * @param q_min the minimum joint positions
+         * @param q_max the maximum joint positions
+         * @param fksolver a forward position kinematics solver
+         * @param iksolver an inverse velocity kinematics solver
+         * @param maxiter the maximum Newton-Raphson iterations,
+         * default: 100
+         * @param eps the precision for the position, used to end the
+         * iterations, default: epsilon (defined in kdl.hpp)
+         *
+         * @return
+         */
+        ChainIkSolverPos_NR_JL(const Chain& chain,const JntArray& q_min, const JntArray& q_max, ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
+
+        /**
+         * Constructor of the solver, it needs the chain, a forward
+         * position kinematics solver and an inverse velocity
+         * kinematics solver for that chain.
+         *
+         * @param chain the chain to calculate the inverse position for
+         * @param fksolver a forward position kinematics solver
+         * @param iksolver an inverse velocity kinematics solver
+         * @param maxiter the maximum Newton-Raphson iterations,
+         * default: 100
+         * @param eps the precision for the position, used to end the
+         * iterations, default: epsilon (defined in kdl.hpp)
+         *
+         * @return
+         */
+        ChainIkSolverPos_NR_JL(const Chain& chain, ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
+
+        ~ChainIkSolverPos_NR_JL();
+
+
+        /**
+         * Calculates the joint values that correspond to the input pose given an initial guess.
+         * @param q_init Initial guess for the joint values.
+         * @param p_in The input pose of the chain tip.
+         * @param q_out The resulting output joint values
+         * @return E_MAX_ITERATIONS_EXCEEDED if the maximum number of iterations was exceeded before a result was found
+         *         E_NOT_UP_TO_DATE if the internal data is not up to date with the chain
+         *         E_SIZE_MISMATCH if the size of the input/output data does not match the chain.
+         */
+        virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
+
+        /**
+         * Function to set the joint limits.
+         * @param q_min minimum values for the joints
+         * @param q_max maximum values for the joints
+         * @return E_SIZE_MISMATCH if input sizes do not match the chain
+         */
+        int setJointLimits(const JntArray& q_min, const JntArray& q_max);
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+
+        /// @copydoc KDL::SolverI::strError()
+        const char* strError(const int error) const;
+
+    private:
+        const Chain& chain;
+        unsigned int nj;
+        JntArray q_min;
+        JntArray q_max;
+        ChainIkSolverVel& iksolver;
+        ChainFkSolverPos& fksolver;
+        JntArray delta_q;
+        unsigned int maxiter;
+        double eps;
+
+        Frame f;
+        Twist delta_twist;
+
+    };
+
+}
+
+#endif