KDL  1.4.0
chainiksolverpos_lma.hpp
Go to the documentation of this file.
1 #ifndef KDL_CHAINIKSOLVERPOS_GN_HPP
2 #define KDL_CHAINIKSOLVERPOS_GN_HPP
3 
8 /**************************************************************************
9  begin : May 2012
10  copyright : (C) 2012 Erwin Aertbelien
11  email : firstname.lastname@mech.kuleuven.ac.be
12 
13  History (only major changes)( AUTHOR-Description ) :
14 
15  ***************************************************************************
16  * This library is free software; you can redistribute it and/or *
17  * modify it under the terms of the GNU Lesser General Public *
18  * License as published by the Free Software Foundation; either *
19  * version 2.1 of the License, or (at your option) any later version. *
20  * *
21  * This library is distributed in the hope that it will be useful, *
22  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
23  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
24  * Lesser General Public License for more details. *
25  * *
26  * You should have received a copy of the GNU Lesser General Public *
27  * License along with this library; if not, write to the Free Software *
28  * Foundation, Inc., 59 Temple Place, *
29  * Suite 330, Boston, MA 02111-1307 USA *
30  * *
31  ***************************************************************************/
32 
33 
34 #include "chainiksolver.hpp"
35 #include "chain.hpp"
36 #include <Eigen/Dense>
37 
38 namespace KDL
39 {
40 
65 {
66 private:
67  typedef double ScalarType;
68  typedef Eigen::Matrix<ScalarType,Eigen::Dynamic,Eigen::Dynamic> MatrixXq;
69  typedef Eigen::Matrix<ScalarType,Eigen::Dynamic,1> VectorXq;
70 public:
71 
72  static const int E_GRADIENT_JOINTS_TOO_SMALL = -100;
73  static const int E_INCREMENT_JOINTS_TOO_SMALL = -101;
74 
96  const KDL::Chain& _chain,
97  const Eigen::Matrix<double,6,1>& _L,
98  double _eps=1E-5,
99  int _maxiter=500,
100  double _eps_joints=1E-15
101  );
102 
109  const KDL::Chain& _chain,
110  double _eps=1E-5,
111  int _maxiter=500,
112  double _eps_joints=1E-15
113  );
114 
126  virtual int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& T_base_goal, KDL::JntArray& q_out);
127 
131  virtual ~ChainIkSolverPos_LMA();
132 
138  void compute_fwdpos(const VectorXq& q);
139 
145  void compute_jacobian(const VectorXq& q);
146 
151  void display_jac(const KDL::JntArray& jval);
152 
155 
157  virtual const char* strError(const int error) const;
158 
159 private:
161  unsigned int nj;
162  unsigned int ns;
163 
164 public:
165 
166 
171 
176 
181 
185  double lastRotDiff;
186 
190  VectorXq lastSV;
191 
197  MatrixXq jac;
198 
204  VectorXq grad;
211 
216 private:
217  // additional specification of the inverse position kinematics problem:
218  unsigned int maxiter;
219  double eps;
220  double eps_joints;
221  Eigen::Matrix<ScalarType,6,1> L;
222 
223 
224 
225  // state of compute_fwdpos and compute_jacobian:
226  std::vector<KDL::Frame> T_base_jointroot;
227  std::vector<KDL::Frame> T_base_jointtip;
228  // need 2 vectors because of the somewhat strange definition of segment.hpp
229  // you could also recompute jointtip out of jointroot,
230  // but then you'll need more expensive cos/sin functions.
231 
232 
233  // the following are state of CartToJnt that is pre-allocated:
234 
235  VectorXq q;
236  MatrixXq A;
237  VectorXq tmp;
238  Eigen::LDLT<MatrixXq> ldlt;
239  Eigen::JacobiSVD<MatrixXq> svd;
240  VectorXq diffq;
241  VectorXq q_new;
242  VectorXq original_Aii;
243 };
244 
245 
246 
247 
248 
249 }; // namespace KDL
250 
251 
252 
253 
254 
255 
256 #endif
ChainIkSolverPos_LMA(const KDL::Chain &_chain, const Eigen::Matrix< double, 6, 1 > &_L, double _eps=1E-5, int _maxiter=500, double _eps_joints=1E-15)
constructs an ChainIkSolverPos_LMA solver.
Definition: chainiksolverpos_lma.cpp:50
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
unsigned int maxiter
Definition: chainiksolverpos_lma.hpp:218
Eigen::JacobiSVD< MatrixXq > svd
Definition: chainiksolverpos_lma.hpp:239
KDL::Frame T_base_head
for internal use only.
Definition: chainiksolverpos_lma.hpp:210
double lastRotDiff
contains the last value for the (unweighted) rotational difference after an execution of CartToJnt...
Definition: chainiksolverpos_lma.hpp:185
std::vector< KDL::Frame > T_base_jointtip
Definition: chainiksolverpos_lma.hpp:227
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
double eps_joints
Definition: chainiksolverpos_lma.hpp:220
bool display_information
display information on each iteration step to the console.
Definition: chainiksolverpos_lma.hpp:215
void compute_jacobian(const VectorXq &q)
for internal use only.
Definition: chainiksolverpos_lma.cpp:158
MatrixXq A
Definition: chainiksolverpos_lma.hpp:236
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
void display_jac(const KDL::JntArray &jval)
for internal use only.
Definition: chainiksolverpos_lma.cpp:177
VectorXq lastSV
contains the last values for the singular values of the weighted Jacobian after an execution of CartT...
Definition: chainiksolverpos_lma.hpp:190
double eps
Definition: chainiksolverpos_lma.hpp:219
const KDL::Chain & chain
Definition: chainiksolverpos_lma.hpp:160
VectorXq q_new
Definition: chainiksolverpos_lma.hpp:241
static const int E_GRADIENT_JOINTS_TOO_SMALL
Definition: chainiksolverpos_lma.hpp:72
MatrixXq jac
for internal use only.
Definition: chainiksolverpos_lma.hpp:197
Definition: articulatedbodyinertia.cpp:28
Solver for the inverse position kinematics that uses Levenberg-Marquardt.
Definition: chainiksolverpos_lma.hpp:64
int lastNrOfIter
contains the last number of iterations for an execution of CartToJnt.
Definition: chainiksolverpos_lma.hpp:170
unsigned int ns
Definition: chainiksolverpos_lma.hpp:162
void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolverpos_lma.cpp:122
Eigen::Matrix< ScalarType, 6, 1 > L
Definition: chainiksolverpos_lma.hpp:221
double lastDifference
contains the last value for after an execution of CartToJnt.
Definition: chainiksolverpos_lma.hpp:175
VectorXq grad
for internal use only.
Definition: chainiksolverpos_lma.hpp:204
void compute_fwdpos(const VectorXq &q)
for internal use only.
Definition: chainiksolverpos_lma.cpp:141
double lastTransDiff
contains the last value for the (unweighted) translational difference after an execution of CartToJnt...
Definition: chainiksolverpos_lma.hpp:180
Eigen::LDLT< MatrixXq > ldlt
Definition: chainiksolverpos_lma.hpp:238
VectorXq tmp
Definition: chainiksolverpos_lma.hpp:237
unsigned int nj
Definition: chainiksolverpos_lma.hpp:161
VectorXq q
Definition: chainiksolverpos_lma.hpp:235
std::vector< KDL::Frame > T_base_jointroot
Definition: chainiksolverpos_lma.hpp:226
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
static const int E_INCREMENT_JOINTS_TOO_SMALL
Definition: chainiksolverpos_lma.hpp:73
virtual int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &T_base_goal, KDL::JntArray &q_out)
computes the inverse position kinematics.
Definition: chainiksolverpos_lma.cpp:187
VectorXq diffq
Definition: chainiksolverpos_lma.hpp:240
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolverpos_lma.cpp:317
Eigen::Matrix< ScalarType, Eigen::Dynamic, Eigen::Dynamic > MatrixXq
Definition: chainiksolverpos_lma.hpp:68
virtual ~ChainIkSolverPos_LMA()
destructor.
Definition: chainiksolverpos_lma.cpp:139
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
VectorXq original_Aii
Definition: chainiksolverpos_lma.hpp:242
Eigen::Matrix< ScalarType, Eigen::Dynamic, 1 > VectorXq
Definition: chainiksolverpos_lma.hpp:69
double ScalarType
Definition: chainiksolverpos_lma.hpp:67