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kdl_install/include/kdl/chainiksolvervel_pinv_nso.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_IKSOLVERVEL_PINV_NSO_HPP
+#define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
+
+#include "chainiksolver.hpp"
+#include "chainjnttojacsolver.hpp"
+#include <Eigen/Core>
+
+namespace KDL
+{
+    /**
+     * Implementation of a inverse velocity kinematics algorithm based
+     * on the generalize pseudo inverse to calculate the velocity
+     * transformation from Cartesian to joint space of a general
+     * KDL::Chain. It uses a svd-calculation based on householders
+     * rotations.
+     *
+     * In case of a redundant robot this solver optimizes the following criterium:
+     * g=0.5*sum(weight*(Desired_joint_positions - actual_joint_positions))^2 as described in 
+     *  A. Liegeois. Automatic supervisory control of the configuration and 
+     * behavior of multibody mechanisms. IEEE Transactions on Systems, Man, and 
+     * Cybernetics, 7(12):868–871, 1977
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverVel_pinv_nso : public ChainIkSolverVel
+    {
+    public:
+        /**
+         * Constructor of the solver
+         *
+         * @param chain the chain to calculate the inverse velocity
+         * kinematics for
+         * @param opt_pos the desired positions of the chain used by to resolve the redundancy
+         * @param weights the weights applied in the joint space
+         * @param eps if a singular value is below this value, its
+         * inverse is set to zero, default: 0.00001
+         * @param maxiter maximum iterations for the svd calculation,
+         * default: 150
+         * @param alpha the null-space velocity gain
+         *
+         */
+        ChainIkSolverVel_pinv_nso(const Chain& chain, const JntArray& opt_pos, const JntArray& weights, double eps=0.00001,int maxiter=150, double alpha = 0.25);
+        explicit ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, double alpha = 0.25);
+        ~ChainIkSolverVel_pinv_nso();
+
+        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
+        /**
+         * not (yet) implemented.
+         *
+         */
+        virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
+
+        /**
+         * Request the joint weights for optimization criterion
+         *
+         *
+         * @return const reference to the joint weights
+         */
+        const JntArray& getWeights()const
+        {
+            return weights;
+        }
+
+        /**
+         * Request the optimal joint positions
+         *
+         *
+         * @return const reference to the optimal joint positions
+         */
+        const JntArray& getOptPos()const
+        {
+            return opt_pos;
+        }
+
+        /**
+         * Request null space velocity gain
+         *
+         *
+         * @return const reference to the null space velocity gain
+         */
+        const double& getAlpha()const
+        {
+            return alpha;
+        }
+
+        /**
+         *Set joint weights for optimization criterion
+         *
+         *@param weights the joint weights
+         *
+         */
+        virtual int setWeights(const JntArray &weights);
+
+        /**
+         *Set optimal joint positions
+         *
+         *@param opt_pos optimal joint positions
+         *
+         */
+        virtual int setOptPos(const JntArray &opt_pos);
+
+        /**
+         *Set null space velocity gain
+         *
+         *@param alpha NUllspace velocity cgain
+         *
+         */
+        virtual int setAlpha(const double alpha);
+
+        /**
+         * Retrieve the latest return code from the SVD algorithm
+         * @return 0 if CartToJnt() not yet called, otherwise latest SVD result code.
+         */
+        int getSVDResult()const {return svdResult;};
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+
+    private:
+        const Chain& chain;
+        ChainJntToJacSolver jnt2jac;
+        unsigned int nj;
+        Jacobian jac;
+        Eigen::MatrixXd U;
+        Eigen::VectorXd S;
+        Eigen::VectorXd Sinv;
+        Eigen::MatrixXd V;
+        Eigen::VectorXd tmp;
+        Eigen::VectorXd tmp2;
+        double eps;
+        int maxiter;
+        int svdResult;
+        double alpha;
+        JntArray weights;
+        JntArray opt_pos;
+    };
+}
+#endif
+