JacobianInverseKinematics.h

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#ifndef RL_MDL_JACOBIANINVERSEKINEMATICS_H
#define RL_MDL_JACOBIANINVERSEKINEMATICS_H
 
#include <chrono>
#include <random>
#include <utility>
 
#include "InverseKinematics.h"
 
namespace rl
{
    namespace mdl
    {
        class JacobianInverseKinematics : public InverseKinematics
        {
        public:
            JacobianInverseKinematics(Kinematic* kinematic);
            
            virtual ~JacobianInverseKinematics();
            
            bool solve();
            
            ::rl::math::Real delta;
            
            ::std::chrono::nanoseconds duration;
            
            ::rl::math::Real epsilon;
            
            ::std::size_t iterations;
            
            bool svd;
            
            bool transpose;
            
        protected:
            
        private:
            ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
            
            ::std::mt19937 randEngine;
        };
    }
}
 
#endif // RL_MDL_JACOBIANINVERSEKINEMATICS_H