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kdl_install/include/kdl/treeiksolver.hpp

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+/*
+ * treeiksolver.hpp
+ *
+ *  Created on: Nov 28, 2008
+ *      Author: rubensmits
+ */
+
+#ifndef TREEIKSOLVER_HPP_
+#define TREEIKSOLVER_HPP_
+
+#include "tree.hpp"
+#include "jntarray.hpp"
+#include "frames.hpp"
+#include <map>
+
+namespace KDL {
+
+typedef std::map<std::string, Twist> Twists;
+typedef std::map<std::string, Jacobian> Jacobians;
+typedef std::map<std::string, Frame> Frames;
+
+/**
+ * \brief This <strong>abstract</strong> class encapsulates the inverse
+ * position solver for a KDL::Chain.
+ *
+ * @ingroup KinematicFamily
+ */
+class TreeIkSolverPos {
+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
+	  *         otherwise (>=0) remaining (weighted) distance to target
+     */
+    virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
+    
+    virtual ~TreeIkSolverPos() {
+    }
+    ;
+};
+
+/**
+ * \brief This <strong>abstract</strong> class encapsulates the inverse
+ * velocity solver for a KDL::Tree.
+ *
+ * @ingroup KinematicFamily
+ */
+class TreeIkSolverVel {
+public:
+    /**
+     * Calculate inverse velocity kinematics, from joint positions
+     *and cartesian velocities 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
+	  *         distance to goal otherwise (weighted norm of v_in)
+     */
+    virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;
+
+    virtual ~TreeIkSolverVel() {
+    }
+    ;
+
+};
+
+}
+
+#endif /* TREEIKSOLVER_HPP_ */