KDL  1.4.0
chainiksolvervel_wdls.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
24 
25 #include "chainiksolver.hpp"
26 #include "chainjnttojacsolver.hpp"
27 #include <Eigen/Core>
28 
29 namespace KDL
30 {
64  {
65  public:
67  static const int E_CONVERGE_PINV_SINGULAR = +100;
68 
81  explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150);
82  //=ublas::identity_matrix<double>
84 
100  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
105  virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
106 
131  int setWeightJS(const Eigen::MatrixXd& Mq);
132 
158  int setWeightTS(const Eigen::MatrixXd& Mx);
159 
163  void setLambda(const double lambda);
167  void setEps(const double eps_in);
171  void setMaxIter(const int maxiter_in);
172 
178  unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
179 
183  double getSigmaMin()const {return sigmaMin;};
184 
188  int getSigma(Eigen::VectorXd& Sout);
189 
193  double getEps()const {return eps;};
194 
198  double getLambda()const {return lambda;};
199 
204  double getLambdaScaled()const {return lambda_scaled;};
205 
210  int getSVDResult()const {return svdResult;};
211 
213  virtual const char* strError(const int error) const;
214 
216  virtual void updateInternalDataStructures();
217 
218  private:
219  const Chain& chain;
221  unsigned int nj;
223  Eigen::MatrixXd U;
224  Eigen::VectorXd S;
225  Eigen::MatrixXd V;
226  double eps;
227  int maxiter;
228  Eigen::VectorXd tmp;
229  Eigen::MatrixXd tmp_jac;
230  Eigen::MatrixXd tmp_jac_weight1;
231  Eigen::MatrixXd tmp_jac_weight2;
232  Eigen::MatrixXd tmp_ts;
233  Eigen::MatrixXd tmp_js;
234  Eigen::MatrixXd weight_ts;
235  Eigen::MatrixXd weight_js;
236  double lambda;
238  unsigned int nrZeroSigmas ;
240  double sigmaMin;
241  };
242 }
243 #endif
244 
KDL::ChainIkSolverVel_wdls::svdResult
int svdResult
Definition: chainiksolvervel_wdls.hpp:239
KDL::ChainIkSolverVel_wdls::tmp_jac
Eigen::MatrixXd tmp_jac
Definition: chainiksolvervel_wdls.hpp:229
KDL::Jacobian::columns
unsigned int columns() const
Definition: jacobian.cpp:75
KDL::ChainIkSolverVel_wdls::eps
double eps
Definition: chainiksolvervel_wdls.hpp:226
KDL::SolverI::strError
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: solveri.hpp:125
KDL::ChainIkSolverVel_wdls::jac
Jacobian jac
Definition: chainiksolvervel_wdls.hpp:222
KDL::ChainIkSolverVel_wdls::updateInternalDataStructures
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_wdls.cpp:54
KDL::ChainIkSolverVel_wdls::tmp_jac_weight1
Eigen::MatrixXd tmp_jac_weight1
Definition: chainiksolvervel_wdls.hpp:230
KDL::JntArray
Definition: jntarray.hpp:69
KDL::ChainIkSolverVel_wdls::ChainIkSolverVel_wdls
ChainIkSolverVel_wdls(const Chain &chain, double eps=0.00001, int maxiter=150)
Constructor of the solver.
Definition: chainiksolvervel_wdls.cpp:28
KDL::ChainIkSolverVel_wdls::CartToJnt
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian ve...
Definition: chainiksolvervel_wdls.cpp:116
KDL::ChainIkSolverVel_wdls::getSigma
int getSigma(Eigen::VectorXd &Sout)
Request the six singular values of the Jacobian.
Definition: chainiksolvervel_wdls.cpp:108
KDL::ChainIkSolverVel_wdls::nrZeroSigmas
unsigned int nrZeroSigmas
Definition: chainiksolvervel_wdls.hpp:238
KDL::SolverI::E_NOT_UP_TO_DATE
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
KDL::ChainIkSolverVel_wdls::U
Eigen::MatrixXd U
Definition: chainiksolvervel_wdls.hpp:223
KDL::ChainIkSolverVel_wdls::CartToJnt
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_wdls.hpp:105
KDL::ChainIkSolverVel_wdls::setWeightJS
int setWeightJS(const Eigen::MatrixXd &Mq)
Set the joint space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:76
KDL
Definition: articulatedbodyinertia.cpp:28
KDL::ChainIkSolverVel_wdls::setWeightTS
int setWeightTS(const Eigen::MatrixXd &Mx)
Set the task space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:86
KDL::Jacobian::resize
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
Definition: jacobian.cpp:55
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:720
KDL::ChainIkSolverVel_wdls::setMaxIter
void setMaxIter(const int maxiter_in)
Set maxIter.
Definition: chainiksolvervel_wdls.cpp:103
KDL::ChainIkSolverVel_wdls::sigmaMin
double sigmaMin
Definition: chainiksolvervel_wdls.hpp:240
KDL::JntArray::rows
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
KDL::ChainJntToJacSolver::JntToJac
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effe...
Definition: chainjnttojacsolver.cpp:48
chainiksolver.hpp
KDL::SolverI::E_SIZE_MISMATCH
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
KDL::ChainIkSolverVel_wdls::getLambda
double getLambda() const
Request the value of lambda for the minimum.
Definition: chainiksolvervel_wdls.hpp:198
KDL::SolverI::E_SVD_FAILED
@ E_SVD_FAILED
Internal svd calculation failed.
Definition: solveri.hpp:107
KDL::ChainIkSolverVel_wdls::getSVDResult
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_wdls.hpp:210
KDL::ChainIkSolverVel_wdls::setLambda
void setLambda(const double lambda)
Set lambda.
Definition: chainiksolvervel_wdls.cpp:93
KDL::ChainIkSolverVel_wdls::nj
unsigned int nj
Definition: chainiksolvervel_wdls.hpp:221
KDL::ChainIkSolverVel_wdls::getNrZeroSigmas
unsigned int getNrZeroSigmas() const
Request the number of singular values of the jacobian that are < eps; if the number of near zero sing...
Definition: chainiksolvervel_wdls.hpp:178
KDL::ChainIkSolverVel_wdls::setEps
void setEps(const double eps_in)
Set eps.
Definition: chainiksolvervel_wdls.cpp:98
KDL::ChainIkSolverVel_wdls::getEps
double getEps() const
Request the value of eps.
Definition: chainiksolvervel_wdls.hpp:193
KDL::ChainIkSolverVel_wdls::V
Eigen::MatrixXd V
Definition: chainiksolvervel_wdls.hpp:225
KDL::Jacobian::rows
unsigned int rows() const
Definition: jacobian.cpp:70
KDL::ChainIkSolverVel_wdls
Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with d...
Definition: chainiksolvervel_wdls.hpp:63
KDL::JntArray::data
Eigen::VectorXd data
Definition: jntarray.hpp:72
KDL::ChainIkSolverVel_wdls::maxiter
int maxiter
Definition: chainiksolvervel_wdls.hpp:227
KDL::ChainIkSolverVel_wdls::getSigmaMin
double getSigmaMin() const
Request the minimum of the first six singular values.
Definition: chainiksolvervel_wdls.hpp:183
KDL::ChainJntToJacSolver::updateInternalDataStructures
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
KDL::JntArrayVel
Definition: jntarrayvel.hpp:45
KDL::ChainIkSolverVel_wdls::lambda_scaled
double lambda_scaled
Definition: chainiksolvervel_wdls.hpp:237
KDL::Jacobian::data
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
Definition: jacobian.hpp:41
KDL::ChainIkSolverVel_wdls::strError
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_wdls.cpp:218
KDL::ChainIkSolverVel_wdls::tmp_jac_weight2
Eigen::MatrixXd tmp_jac_weight2
Definition: chainiksolvervel_wdls.hpp:231
KDL::ChainIkSolverVel_wdls::lambda
double lambda
Definition: chainiksolvervel_wdls.hpp:236
KDL::ChainIkSolverVel_wdls::S
Eigen::VectorXd S
Definition: chainiksolvervel_wdls.hpp:224
KDL::ChainIkSolverVel_wdls::weight_js
Eigen::MatrixXd weight_js
Definition: chainiksolvervel_wdls.hpp:235
KDL::ChainIkSolverVel_wdls::tmp_js
Eigen::MatrixXd tmp_js
Definition: chainiksolvervel_wdls.hpp:233
chainiksolvervel_wdls.hpp
KDL::ChainIkSolverVel_wdls::weight_ts
Eigen::MatrixXd weight_ts
Definition: chainiksolvervel_wdls.hpp:234
KDL::ChainIkSolverVel_wdls::~ChainIkSolverVel_wdls
~ChainIkSolverVel_wdls()
Definition: chainiksolvervel_wdls.cpp:72
KDL::ChainIkSolverVel_wdls::E_CONVERGE_PINV_SINGULAR
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
Definition: chainiksolvervel_wdls.hpp:67
KDL::ChainIkSolverVel_wdls::chain
const Chain & chain
Definition: chainiksolvervel_wdls.hpp:219
KDL::FrameVel
Definition: framevel.hpp:197
KDL::ChainIkSolverVel
Definition: chainiksolver.hpp:66
chainjnttojacsolver.hpp
KDL::ChainIkSolverVel_wdls::getLambdaScaled
double getLambdaScaled() const
Request the scaled value of lambda for the minimum singular value 1-6.
Definition: chainiksolvervel_wdls.hpp:204
KDL::ChainJntToJacSolver
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
KDL::SolverI::E_NOERROR
@ E_NOERROR
No error.
Definition: solveri.hpp:91
KDL::ChainIkSolverVel_wdls::tmp_ts
Eigen::MatrixXd tmp_ts
Definition: chainiksolvervel_wdls.hpp:232
KDL::Chain
Definition: chain.hpp:35
KDL::Chain::getNrOfJoints
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
KDL::ChainIkSolverVel_wdls::tmp
Eigen::VectorXd tmp
Definition: chainiksolvervel_wdls.hpp:228
KDL::SolverI::error
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
KDL::ChainIkSolverVel_wdls::jnt2jac
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_wdls.hpp:220
KDL::Jacobian
Definition: jacobian.hpp:36