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IKJDLS.h

Go to the documentation of this file.

//      Title       :  IKJDLS.h
//      Project     :  Trauma Pod
//      Created     :  02/20/2005 12:53:41 PM
//      Author      :  Chalongrath Pholsiri
//      Platforms   :  All
//      Copyright   :  Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//                 This software and documentation constitute an unpublished work
//                 and contain valuable trade secrets and proprietary information
//                 belonging to University.  None of the foregoing material may be
//                 copied  or duplicated or disclosed without the express, written
//                 permission of University.  UNIVERSITY EXPRESSLY DISCLAIMS ANY
//                 AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//                 INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//                 PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//                 THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//                 NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//                 THE SOFTWARE OR DOCUMENTATION.  Under no circumstances shall
//                 University be liable for incidental, special, indirect, direct or
//                 consequential damages or loss of profits, interruption of business,
//                 or related expenses which may arise from use of software or documentation,
//                 including but not limited to those resulting from defects in software
//                 and/or documentation, or loss or inaccuracy of data of any kind.
//
//              Purpose     :  Inverse kinematics using Damped Least Square technique
//-----------------------------------------------------------------------------
//
//              $Revisions$
//                                      
//                                      

#ifndef IKJDLS_h
#define IKJDLS_h

#include "ForwardKinematics/FKJacobianMitsubishiPA-10.h"
#include "InverseKinematics/IKJacobian.h"
#include "InverseKinematics/IKErrors.h"
#include "Math/DLSEqnSolver.h"

namespace OSCAR {

        template <class JacobianType=FKJacobian>
        class IKJDLS : public IKJacobian<JacobianType>
        {
        public:

                IKJDLS(const JointVector& initialJointPosition,
                                                                                JacobianType    *fk,
                                                                                DLSEqnSolver* solver,
                                                                                OSCARError& err = DUMMY_ERROR(noError));

                virtual ~IKJDLS();

                virtual bool GetJointPosition(const Xform& desiredHandMatrix, JointVector &jointPosition);

                virtual bool GetJointPosition(const HandPose& desiredHand, JointVector& jointPosition);

                virtual bool GetDifferentialJointPosition(const Xform& desiredHandMatrix, JointVector& differentialJointPosition);
                
                virtual bool GetDifferentialJointPosition(const HandPose& desiredHand, JointVector& differentialJointPosition);

                virtual bool GetJointVelocity(const HandPose& handVelocity, JointVector& jointVelocitySolution);

                void SetMaxDampingFactor(double maxDamping);

    bool SetErrorTolerances(double maxTransError, double maxRotError);

    bool GetErrorTolerances(double& maxTransError, double& maxRotError) const;


        protected:
                double                  maxDamping,     maxTransError, maxRotError;
                double                  transError, rotError;

                bool converge(const Xform& desiredHandMatrix);
                double calculateErrorMagnitude(const Xform& desired, 
                                                                                                                                         const Xform* current, 
                                                                                                                                         HandPose& error);
                void computeDamping();
        };

        #include "InverseKinematics/IKJDLS.ipp"
}
        

#endif // IKJDLS_h

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