KdlTreeSolver.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __KDL_TREE_SOLVER_HPP__
#define __KDL_TREE_SOLVER_HPP__
 
#include <map>
#include <string>
#include <vector>
 
#include <yarp/dev/DeviceDriver.h>
 
#include <kdl/tree.hpp>
#include <kdl/treefksolver.hpp>
#include <kdl/treeiksolver.hpp>
#include <kdl/treeidsolver.hpp>
 
#include "ICartesianSolver.h"
#include "KdlTreeSolver_ParamsParser.h"
 
class KdlTreeSolver : public yarp::dev::DeviceDriver,
                      public roboticslab::ICartesianSolver,
                      public KdlTreeSolver_ParamsParser
{
public:
    // -- ICartesianSolver declarations. Implementation in ICartesianSolverImpl.cpp --
 
    // Get number of joints for which the solver has been configured.
    int getNumJoints() override;
 
    // Get number of TCPs for which the solver has been configured.
    int getNumTcps() override;
 
    // Append an additional link.
    bool appendLink(const std::vector<double> & x) override;
 
    // Restore original kinematic chain.
    bool restoreOriginalChain() override;
 
    // Change reference frame.
    bool changeOrigin(const std::vector<double> & x_old_obj, const std::vector<double> & x_new_old, std::vector<double> & x_new_obj) override;
 
    // Perform forward kinematics.
    bool fwdKin(const std::vector<double> & q, std::vector<double> & x) override;
 
    // Obtain difference between supplied pose inputs.
    bool poseDiff(const std::vector<double> & xLhs, const std::vector<double> & xRhs, std::vector<double> & xOut) override;
 
    // Perform inverse kinematics.
    bool invKin(const std::vector<double> & xd, const std::vector<double> & qGuess, std::vector<double> & q, reference_frame frame) override;
 
    // Perform differential inverse kinematics.
    bool diffInvKin(const std::vector<double> & q, const std::vector<double> & xdot, std::vector<double> & qdot, reference_frame frame) override;
 
    // Perform inverse dynamics.
    bool invDyn(const std::vector<double> & q, std::vector<double> & t) override;
 
    // Perform inverse dynamics.
    bool invDyn(const std::vector<double> & q, const std::vector<double> & qdot, const std::vector<double> & qdotdot,
                const std::vector<double> & ftip, std::vector<double> & t, reference_frame frame) override;
 
    // -------- DeviceDriver declarations. Implementation in IDeviceImpl.cpp --------
 
    bool open(yarp::os::Searchable & config) override;
 
    bool close() override;
 
protected:
    bool makeTree(const yarp::os::Searchable & config);
 
    std::vector<std::string> endpoints;
    std::map<std::string, std::string> mergedEndpoints;
 
    KDL::Tree tree;
 
    KDL::TreeFkSolverPos * fkSolverPos {nullptr};
    KDL::TreeIkSolverPos * ikSolverPos {nullptr};
    KDL::TreeIkSolverVel * ikSolverVel {nullptr};
    KDL::TreeIdSolver * idSolver {nullptr};
};
 
#endif // __KDL_TREE_SOLVER_HPP__