119 lines
4.3 KiB
C++
119 lines
4.3 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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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 KDL_CHAIN_IKSOLVERVEL_PINV_HPP
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#define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
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#include "chainiksolver.hpp"
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#include "chainjnttojacsolver.hpp"
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#include "utilities/svd_HH.hpp"
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namespace KDL
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{
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/**
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* Implementation of a inverse velocity kinematics algorithm based
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* on the generalize pseudo inverse to calculate the velocity
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* transformation from Cartesian to joint space of a general
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* KDL::Chain. It uses a svd-calculation based on householders
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* rotations.
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*
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* @ingroup KinematicFamily
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*/
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class ChainIkSolverVel_pinv : public ChainIkSolverVel
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{
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public:
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/// solution converged but (pseudo)inverse is singular
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static const int E_CONVERGE_PINV_SINGULAR = +100;
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/**
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* Constructor of the solver
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*
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* @param chain the chain to calculate the inverse velocity
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* kinematics for
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* @param eps if a singular value is below this value, its
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* inverse is set to zero, default: 0.00001
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* @param maxiter maximum iterations for the svd calculation,
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* default: 150
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*
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*/
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explicit ChainIkSolverVel_pinv(const Chain& chain,double eps=0.00001,int maxiter=150);
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~ChainIkSolverVel_pinv();
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/**
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* Find an output joint velocity \a qdot_out, given a starting joint pose
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* \a q_init and a desired cartesian velocity \a v_in
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*
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* @return
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* E_NOERROR=solution converged to <eps in maxiter
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* E_SVD_FAILED=SVD computation failed
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* E_CONVERGE_PINV_SINGULAR=solution converged but (pseudo)inverse is singular
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*
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* @note if E_CONVERGE_PINV_SINGULAR returned then converged and can
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* continue motion, but have degraded solution
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*
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* @note If E_SVD_FAILED returned, then getSvdResult() returns the error code
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* from the SVD algorithm.
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*/
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virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
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/**
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* not (yet) implemented.
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*
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*/
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virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
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/**
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* Retrieve the number of singular values of the jacobian that are < eps;
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* if the number of near zero singular values is > jac.col()-jac.row(),
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* then the jacobian pseudoinverse is singular
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*/
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unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
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/**
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* Retrieve the latest return code from the SVD algorithm
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* @return 0 if CartToJnt() not yet called, otherwise latest SVD result code.
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*/
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int getSVDResult()const {return svdResult;};
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/// @copydoc KDL::SolverI::strError()
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virtual const char* strError(const int error) const;
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/// @copydoc KDL::SolverI::updateInternalDataStructures
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virtual void updateInternalDataStructures();
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private:
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const Chain& chain;
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ChainJntToJacSolver jnt2jac;
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unsigned int nj;
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Jacobian jac;
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SVD_HH svd;
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std::vector<JntArray> U;
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JntArray S;
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std::vector<JntArray> V;
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JntArray tmp;
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double eps;
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int maxiter;
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unsigned int nrZeroSigmas;
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int svdResult;
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};
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}
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#endif
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