IK_QJacobian.h

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Original Author: Laurence
 * Contributor(s): Brecht
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef NAN_INCLUDED_IK_QJacobian_h

#define NAN_INCLUDED_IK_QJacobian_h

#include "TNT/cmat.h"
#include <vector>
#include "MT_Vector3.h"

class IK_QJacobian
{
public:
    typedef TNT::Matrix<MT_Scalar> TMatrix;
    typedef TNT::Vector<MT_Scalar> TVector;

    IK_QJacobian();
    ~IK_QJacobian();

    // Call once to initialize
    void ArmMatrices(int dof, int task_size);
    void SetDoFWeight(int dof, MT_Scalar weight);

    // Iteratively called
    void SetBetas(int id, int size, const MT_Vector3& v);
    void SetDerivatives(int id, int dof_id, const MT_Vector3& v, MT_Scalar norm_weight);

    void Invert();

    MT_Scalar AngleUpdate(int dof_id) const;
    MT_Scalar AngleUpdateNorm() const;

    // DoF locking for inner clamping loop
    void Lock(int dof_id, MT_Scalar delta);

    // Secondary task
    bool ComputeNullProjection();

    void Restrict(TVector& d_theta, TMatrix& null);
    void SubTask(IK_QJacobian& jacobian);

private:
    
    void InvertSDLS();
    void InvertDLS();

    int m_dof, m_task_size;
    bool m_transpose;

    // the jacobian matrix and it's null space projector
    TMatrix m_jacobian, m_jacobian_tmp;
    TMatrix m_null;

    TVector m_beta;

    TVector m_d_theta;
    TVector m_d_norm_weight;


    TVector m_svd_w;
    TMatrix m_svd_v;
    TMatrix m_svd_u;
    TVector m_work1;
    TVector m_work2;

    TMatrix m_svd_u_t;
    TVector m_svd_u_beta;

    // space required for SDLS

    bool m_sdls;
    TVector m_norm;
    TVector m_d_theta_tmp;
    MT_Scalar m_min_damp;

    // null space task vector
    TVector m_alpha;

    // dof weighting
    TVector m_weight;
    TVector m_weight_sqrt;
};

#endif