IK_QJacobian.h

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/*
 * $Id: IK_QJacobian.h 38232 2011-07-08 12:18:54Z blendix $
 * ***** 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