NloptInverseKinematics.h

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#ifndef RL_MDL_NLOPTINVERSEKINEMATICS_H
#define RL_MDL_NLOPTINVERSEKINEMATICS_H
 
#include <chrono>
#include <nlopt.h>
#include <random>
#include <utility>
 
#include "InverseKinematics.h"
 
namespace rl
{
    namespace mdl
    {
        class NloptInverseKinematics : public InverseKinematics
        {
        public:
            NloptInverseKinematics(Kinematic* kinematic);
            
            virtual ~NloptInverseKinematics();
            
            bool solve();
            
            ::rl::math::Real delta;
            
            ::std::chrono::nanoseconds duration;
            
            ::rl::math::Real epsilonRotation;
            
            ::rl::math::Real epsilonTranslation;
            
            double tolerance;
            
        protected:
            
        private:
            static void check(const nlopt_result& ret);
            
            ::rl::math::Real error(const ::rl::math::Vector& q);
            
            static ::rl::math::Real f(unsigned n, const double* x, double* grad, void* data);
            
            ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
            
            ::std::mt19937 randEngine;
        };
    }
}
 
#endif // RL_MDL_NLOPTINVERSEKINEMATICS_H