85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
// Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Mikael Mayer
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// Copyright (C) 2008 Julia Jesse
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
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#define KDLTREEIKSOLVERPOS_NR_JL_HPP
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#include "treeiksolver.hpp"
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#include "treefksolver.hpp"
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#include <vector>
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#include <string>
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namespace KDL {
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/**
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* Implementation of a general inverse position kinematics
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* algorithm based on Newton-Raphson iterations to calculate the
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* position transformation from Cartesian to joint space of a general
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* KDL::Tree. Takes joint limits into account.
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*
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* @ingroup KinematicFamily
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*/
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class TreeIkSolverPos_NR_JL: public TreeIkSolverPos {
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public:
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/**
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* Constructor of the solver, it needs the tree, a forward
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* position kinematics solver and an inverse velocity
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* kinematics solver for that tree, and a list of the segments you are interested in.
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*
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* @param tree the tree to calculate the inverse position for
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* @param endpoints the list of endpoints you are interested in.
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* @param q_max the maximum joint positions
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* @param q_min the minimum joint positions
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* @param fksolver a forward position kinematics solver
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* @param iksolver an inverse velocity kinematics solver
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* @param maxiter the maximum Newton-Raphson iterations,
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* default: 100
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* @param eps the precision for the position, used to end the
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* iterations, default: epsilon (defined in kdl.hpp)
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*
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* @return
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*/
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TreeIkSolverPos_NR_JL(const Tree& tree, const std::vector<std::string>& endpoints, const JntArray& q_min, const JntArray& q_max, TreeFkSolverPos& fksolver,TreeIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
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~TreeIkSolverPos_NR_JL();
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virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);
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private:
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const Tree tree;
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JntArray q_min;
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JntArray q_max;
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TreeIkSolverVel& iksolver;
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TreeFkSolverPos& fksolver;
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JntArray delta_q;
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Frames frames;
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Twists delta_twists;
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std::vector<std::string> endpoints;
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unsigned int maxiter;
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double eps;
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};
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}
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#endif
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