Kinematic.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_MDL_KINEMATIC_H
#define RL_MDL_KINEMATIC_H
 
#include <rl/math/Matrix.h>
 
#include "Metric.h"
 
namespace rl
{
    namespace mdl
    {
        class Kinematic : public Metric
        {
        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
            
            Kinematic();
            
            virtual ~Kinematic();
            
            Model* clone() const;
            
            bool calculateInversePosition(
                const ::rl::math::Transform& x,
                const ::std::size_t& leaf = 0,
                const ::rl::math::Real& delta = ::std::numeric_limits< ::rl::math::Real>::infinity(),
                const ::rl::math::Real& epsilon = 1.0e-3f,
                const ::std::size_t& iterations = 1000
            );
            
            void calculateJacobian(const bool& inWorldFrame = true);
            
            void calculateJacobian(::rl::math::Matrix& J, const bool& inWorldFrame = true);
            
            void calculateJacobianDerivative(const bool& inWorldFrame = true);
            
            void calculateJacobianDerivative(::rl::math::Vector& Jdqd, const bool& inWorldFrame = true);
            
            void calculateJacobianInverse(const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true);
            
            void calculateJacobianInverse(const ::rl::math::Matrix& J, ::rl::math::Matrix& invJ, const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true) const;
            
            ::rl::math::Real calculateManipulabilityMeasure() const;
            
            ::rl::math::Real calculateManipulabilityMeasure(const ::rl::math::Matrix& J) const;
            
            void forwardAcceleration();
            
            void forwardPosition();
            
            void forwardVelocity();
            
            const ::rl::math::Matrix& getJacobian() const;
            
            const ::rl::math::Vector& getJacobianDerivative() const;
            
            const ::rl::math::Matrix& getJacobianInverse() const;
            
            bool isSingular() const;
            
            bool isSingular(const ::rl::math::Matrix& J) const;
            
            virtual void update();
            
        protected:
            ::rl::math::Matrix invJ;
            
            ::rl::math::Matrix J;
            
            ::rl::math::Vector Jdqd;
            
        private:
            
        };
    }
}
 
#endif // RL_MDL_KINEMATIC_H