Exemple #1
0
int PR2ArmIKSolver::CartToJnt(const KDL::JntArray& q_init,
                              const KDL::Frame& p_in,
                              std::vector<KDL::JntArray> &q_out)
{
  Eigen::Matrix4f b = KDLToEigenMatrix(p_in);
  std::vector<std::vector<double> > solution_ik;
  KDL::JntArray q;

  if(free_angle_ == 0)
  {
    pr2_arm_ik_.computeIKShoulderPan(b, q_init(0), solution_ik);
  }
  else
  {
    pr2_arm_ik_.computeIKShoulderRoll(b, q_init(2), solution_ik);
  }

  if(solution_ik.empty())
    return -1;

  q.resize(7);
  q_out.clear();
  for(int i=0; i< (int) solution_ik.size(); ++i)
  {
    for(int j=0; j < 7; j++)
    {
      q(j) = solution_ik[i][j];
    }
    q_out.push_back(q);
  }
  return 1;
}
//NEVER call this without setting the container chain!!
void kinematics_utilities::initialize_solvers(chain_and_solvers* container, KDL::JntArray& joints_value,KDL::JntArray& q_max, KDL::JntArray& q_min, int index)
{
    for (KDL::Segment& segment: container->chain.segments)
    {
        if (segment.getJoint().getType()==KDL::Joint::None) continue;
        //std::cout<<segment.getJoint().getName()<<std::endl;
        container->joint_names.push_back(segment.getJoint().getName());
    }
    assert(container->joint_names.size()==container->chain.getNrOfJoints());
    joints_value.resize(container->chain.getNrOfJoints());
    SetToZero(joints_value);
    q_max.resize(container->chain.getNrOfJoints());
    q_min.resize(container->chain.getNrOfJoints());
    container->average_joints.resize(container->chain.getNrOfJoints());
    container->fksolver=new KDL::ChainFkSolverPos_recursive(container->chain);
    container->ikvelsolver = new KDL::ChainIkSolverVel_pinv(container->chain);
    container->index=index;
    int j=0;
    for (auto joint_name:container->joint_names)
    {
#if IGNORE_JOINT_LIMITS
        q_max(j)=M_PI/3.0;
        q_min(j)=-M_PI/3.0;
#else
        q_max(j)=urdf_model.joints_[joint_name]->limits->upper;
        q_min(j)=urdf_model.joints_[joint_name]->limits->lower;
#endif
        container->average_joints(j)=(q_max(j)+q_min(j))/2.0;
        j++;
    }
    container->iksolver= new KDL::ChainIkSolverPos_NR_JL(container->chain,q_min,q_max,*container->fksolver,*container->ikvelsolver);
}
 Eigen::VectorXd toEigen(const KDL::Twist & v, const KDL::JntArray & dq)
 {
     VectorXd ret(6+dq.rows());
     ret.segment(0,6) = toEigen(v);
     for(int i=0; i < (int)dq.rows(); i++ ) { ret(6+i) = dq(i); }
     return ret;
 }
 Eigen::VectorXd toEigen(const KDL::Wrench & f, const KDL::JntArray & tau)
 {
     VectorXd ret(6+tau.rows());
     ret.segment(0,6) = toEigen(f);
     for(int i=0; i < (int)tau.rows(); i++ ) { ret(6+i) = tau(i); }
     return ret;
 }
bool Kinematics::readJoints(urdf::Model &robot_model) {
    num_joints = 0;
    // get joint maxs and mins
    boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
    boost::shared_ptr<const urdf::Joint> joint;

    while (link && link->name != root_name) {
        joint = robot_model.getJoint(link->parent_joint->name);
        if (!joint) {
            ROS_ERROR("Could not find joint: %s",link->parent_joint->name.c_str());
            return false;
        }
        if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) {
            ROS_INFO( "adding joint: [%s]", joint->name.c_str() );
            num_joints++;
        }
        link = robot_model.getLink(link->getParent()->name);
    }

    joint_min.resize(num_joints);
    joint_max.resize(num_joints);
    info.joint_names.resize(num_joints);
    info.link_names.resize(num_joints);
    info.limits.resize(num_joints);

    link = robot_model.getLink(tip_name);
    unsigned int i = 0;
    while (link && i < num_joints) {
        joint = robot_model.getJoint(link->parent_joint->name);
        if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) {
            ROS_INFO( "getting bounds for joint: [%s]", joint->name.c_str() );

            float lower, upper;
            int hasLimits;
            if ( joint->type != urdf::Joint::CONTINUOUS ) {
                lower = joint->limits->lower;
                upper = joint->limits->upper;
                hasLimits = 1;
            } else {
                lower = -M_PI;
                upper = M_PI;
                hasLimits = 0;
            }
            int index = num_joints - i -1;

            joint_min.data[index] = lower;
            joint_max.data[index] = upper;
            info.joint_names[index] = joint->name;
            info.link_names[index] = link->name;
            info.limits[index].joint_name = joint->name;
            info.limits[index].has_position_limits = hasLimits;
            info.limits[index].min_position = lower;
            info.limits[index].max_position = upper;
            i++;
        }
        link = robot_model.getLink(link->getParent()->name);
    }
    return true;
}
void KDLChainWrapper::jointArrayToRealJointArray(const KDL::JntArray& joint_array, KDL::JntArray& real_joint_array)
{
    ROS_ASSERT(int(joint_array.rows()) == num_joints_);
    ROS_ASSERT(int(real_joint_array.rows()) == num_real_joints_);
    for (int i=0; i<num_real_joints_; ++i)
    {
        real_joint_array(i) = mimic_joints_[i].offset + mimic_joints_[i].multiplier *
                              joint_array(mimic_joints_[i].mimic_joint);
    }
}
bool ArmAnalyticalInverseKinematics::isSolutionValid(const KDL::JntArray &solution) const
{
	bool valid = true;

	if (solution.rows() != 5) return false;

	for (unsigned int i = 0; i < solution.rows(); i++) {
		if ((solution(i) < _min_angles[i]) || (solution(i) > _max_angles[i])) {
			valid = false;
		}
	}

	return valid;
}
void Arm_Cartesian_Control::checkLimits(
		double dt, KDL::JntArray& joint_positions,
		KDL::JntArray& jntVel) {

	if (upper_joint_limits.size() < arm_chain->getNrOfJoints()
			|| lower_joint_limits.size() < arm_chain->getNrOfJoints()) {
	        std::cout << "No Joint limits defined";
		return;
	}

	double limit_range = 0.1;
        
        jointLimitsReached = false;

	for (int i=0; i<jntVel.data.rows(); i++) {
		double pos = joint_positions.data(i);
		double vel = jntVel.data(i);

		double fpos = pos + vel * dt * 2;

		double upper_limit = this->upper_joint_limits[i];
		double lower_limit = this->lower_joint_limits[i];

		double upper_clearance = upper_limit - fpos;
		double lower_clearance = lower_limit - fpos;

		double limit_vel = vel;


		if (fabs(upper_clearance) < limit_range*2  && vel > 0) {
			limit_vel *= upper_clearance;
		}
		if (fabs(lower_clearance) < limit_range*2  && vel < 0) {
			limit_vel *= lower_clearance;
		}

		if (fpos > upper_limit - limit_range && vel > 0) {
			limit_vel = 0.0;
		        std::cout << "Upper limit reached for joint " << i << std::endl;
                        jointLimitsReached = true;
 		} else if (fpos < lower_limit + limit_range && vel < 0) {
 			limit_vel = 0.0;
			std::cout << "Lower limit reached for joint " << i << std::endl;
                        jointLimitsReached = true;
		}

		jntVel.data(i) = limit_vel;

	}
}
Exemple #9
0
void KdlTreeFk::getPoses(const KDL::JntArray& joints, std::map<std::string, KDL::Frame>& frames)
{
    if (joints.rows() != tree.getNrOfJoints())
    {
        std::stringstream err;
        err << "getPoses() joints not properly sized";
        //RCS::Logger::log("gov.nasa.controllers.KdlTreeFk", log4cpp::Priority::ERROR, err.str());
        throw std::runtime_error(err.str());
        return;
    }
    KDL::Frame baseFrame;
    if (frames.empty())
    {
        recursiveGetPoses(true, baseFrame, tree.getRootSegment(), joints, frames);
    }
    else
    {
        /// make sure all of the listed frames are available
        // if non existant frames are requested, this is the only way to find out
        for (std::map<std::string, KDL::Frame>::const_iterator it = frames.begin(); it != frames.end(); ++it)
        {
            if (tree.getSegment(it->first) == tree.getSegments().end())
            {
                std::stringstream err;
                err << "KdlTreeFk::getPoses() requested an unavailable pose";
                //RCS::Logger::log("gov.nasa.controllers.KdlTreeFk", log4cpp::Priority::ERROR, err.str());
                throw std::runtime_error(err.str());
                return;
            }
        }
        recursiveGetPoses(false, baseFrame, tree.getRootSegment(), joints, frames);
    }
}
bool FKSolver::solve(const KDL::JntArray& q_in, std::vector<KDL::Vector>& joint_pos, std::vector<KDL::Vector>& joint_axis, std::vector<KDL::Frame>& segment_frames) const
{
  Frame p_out = Frame::Identity();

  if (q_in.rows() != num_joints_)
    return false;

  joint_pos.resize(num_joints_);
  joint_axis.resize(num_joints_);
  segment_frames.resize(num_segments_);

  int j = 0;
  for (unsigned int i = 0; i < num_segments_; i++)
  {
    double joint_value = 0.0;
    if (chain_.getSegment(i).getJoint().getType() != Joint::None)
    {
      joint_value = q_in(j);
      joint_pos[j] = p_out * chain_.getSegment(i).getJoint().JointOrigin();
      joint_axis[j] = p_out.M * chain_.getSegment(i).getJoint().JointAxis();
      j++;
    }
    p_out = p_out * chain_.getSegment(i).pose(joint_value);
    segment_frames[i] = p_out;
  }
  return true;
}
int SNS_IK::CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in,
                      const KDL::JntArray& q_bias,
                      const std::vector<std::string>& biasNames,
                      KDL::JntArray &q_out, const KDL::Twist& bounds) {

  if (!m_initialized) {
    ROS_ERROR("SNS_IK was not properly initialized with a valid chain or limits.");
    return -1;
  }

  // The position solver uses a barrier function instead of the hard position limits
  m_ik_vel_solver->usePositionLimits(false);

  int result;
  if (q_bias.rows()) {
    MatrixD ns_jacobian;
    std::vector<int> indicies;
    if (!nullspaceBiasTask(q_bias, biasNames, &ns_jacobian, &indicies)) {
      ROS_ERROR("Could not create nullspace bias task");
      result = -1;
    } else {
      result = m_ik_pos_solver->CartToJnt(q_init, p_in, q_bias, ns_jacobian, indicies,
                                          m_nullspaceGain, &q_out, bounds);
    }
  } else {
    result = m_ik_pos_solver->CartToJnt(q_init, p_in, &q_out, bounds);
  }

  m_ik_vel_solver->usePositionLimits(true);
  return result;
}
void PostureControl::initialize(const KDL::JntArray& q_min, const KDL::JntArray& q_max, const std::vector<double>& q0, const std::vector<double>& gain, const std::map<std::string, unsigned int>& joint_name_to_index) {

    num_joints_ = q_min.rows();
    q0_.resize(num_joints_);
    q0_default_.resize(num_joints_);
    q_min_.resize(num_joints_);
    q_max_.resize(num_joints_);
    K_.resize(num_joints_);
    joint_name_to_index_ = joint_name_to_index;
    for (uint i = 0; i < num_joints_; i++) {
        q0_[i] = q0[i];
        q0_default_[i] = q0[i];
        q_min_[i] = q_min(i);
        q_max_[i] = q_max(i);
    }

    ROS_INFO("Length joint array = %i",num_joints_);
    for (uint i = 0; i < num_joints_; i++) {
        K_[i] = gain[i] / ((q_max(i) - q_min(i))*(q_max(i) - q_min(i)));
        //ROS_INFO("qmin = %f, qmax = %f, q0 = %f, K = %f, gain = %f",q_min(i),q_max(i),q0_[i], K_[i], gain[i]);
    }
    //ROS_INFO("Length joint array = %i",num_joints_);

    current_cost_ = 0;

}
double InverseKinematicsSolver::computeEuclideanDistance(
		const KDL::JntArray &array_1,
		const KDL::JntArray &array_2)
{
	double distance = 0.0;

	for (unsigned int i = 0; i < array_1.rows(); i++) {
		distance += (array_1(i) - array_2(i)) * (array_1(i) - array_2(i));
	}

	return sqrt(distance);
}
Exemple #14
0
KDL::Frame ArmKinematics::get_pos_fk(const KDL::JntArray& q)
{
  assert(q.rows() == dof_);

  assert(fk_solver_);

  KDL::Frame pose;

  fk_solver_->JntToCart(q, pose);

  return pose;
}
int PR2ArmIKSolver::CartToJnt(const KDL::JntArray& q_init, 
                              const KDL::Frame& p_in, 
                              KDL::JntArray &q_out)
{
  Eigen::Matrix4f b = KDLToEigenMatrix(p_in);
  std::vector<std::vector<double> > solution_ik;
  if(free_angle_ == 0)
  {
    ROS_DEBUG("Solving with %f",q_init(0)); 
    pr2_arm_ik_.computeIKShoulderPan(b,q_init(0),solution_ik);
  }
  else
  {
    pr2_arm_ik_.computeIKShoulderRoll(b,q_init(2),solution_ik);
  }
  
  if(solution_ik.empty())
    return -1;

  double min_distance = 1e6;
  int min_index = -1;

  for(int i=0; i< (int) solution_ik.size(); i++)
  {     
    ROS_DEBUG("Solution : %d",(int)solution_ik.size());

    for(int j=0; j < (int)solution_ik[i].size(); j++)
    {   
      ROS_DEBUG("%d: %f",j,solution_ik[i][j]);
    }
    ROS_DEBUG(" ");
    ROS_DEBUG(" ");

    double tmp_distance = computeEuclideanDistance(solution_ik[i],q_init);
    if(tmp_distance < min_distance)
    {
      min_distance = tmp_distance;
      min_index = i;
    }
  }

  if(min_index > -1)
  {
    q_out.resize((int)solution_ik[min_index].size());
    for(int i=0; i < (int)solution_ik[min_index].size(); i++)
    {   
      q_out(i) = solution_ik[min_index][i];
    }
    return 1;
  }
  else
    return -1;
}
Exemple #16
0
bool jointPosLimitsFromUrdfModel(const urdf::ModelInterface& robot_model,
                              std::vector<std::string> & joint_names,
                              KDL::JntArray & min,
                              KDL::JntArray & max)
{
    int nrOfJointsWithLimits=0;
    for (urdf::JointPtrMap::const_iterator it=robot_model.joints_.begin(); it!=robot_model.joints_.end(); ++it)
    {
        if( it->second->type == urdf::Joint::REVOLUTE ||
            it->second->type == urdf::Joint::PRISMATIC )
        {
            nrOfJointsWithLimits++;
        }
    }

    joint_names.resize(nrOfJointsWithLimits);
    min.resize(nrOfJointsWithLimits);
    max.resize(nrOfJointsWithLimits);

    int index =0;
    for (urdf::JointPtrMap::const_iterator it=robot_model.joints_.begin(); it!=robot_model.joints_.end(); ++it)
    {
        if( it->second->type == urdf::Joint::REVOLUTE ||
            it->second->type == urdf::Joint::PRISMATIC )
        {
            joint_names[index] = (it->first);
            min(index) = it->second->limits->lower;
            max(index) = it->second->limits->upper;
            index++;
        }
    }

    if( index != nrOfJointsWithLimits )
    {
        std::cerr << "[ERR] kdl_format_io error in jointPosLimitsFromUrdfModel function" << std::endl;
        return false;
    }

    return true;
}
Exemple #17
0
    // Fill in the plot message for publishing data to be plotted in the /VS_errors topic
    void makePlotMSG(std_msgs::Float64MultiArray &plotMsg,
                     vpColVector &taskError,
                     vpColVector &qdot,
                     vpColVector &q1dot,
                     vpColVector &q2dot,
                     vpMatrix &fJe,
                     vpVelocityTwistMatrix &eVf,
                     KDL::JntArray &kdlArmPosition
                     )
    {
        // add qdot - total joint velocity
        for(unsigned int i=0; i<qdot.getRows(); i++)
        {
            plotMsg.data.push_back(qdot[i]);
        }

        // add q1dot - main task
        for(unsigned int i=0; i<q1dot.getRows(); i++)
        {
            plotMsg.data.push_back(q1dot[i]);
        }

        // add q2dot - main task
        for(unsigned int i=0; i<q2dot.getRows(); i++)
        {
            plotMsg.data.push_back(q2dot[i]);
        }

        // add the end-effector velocity
        vpColVector vel;
        vel = eVf*fJe*qdot;
        for(unsigned int i=0; i<vel.getRows(); i++)
        {
            plotMsg.data.push_back(vel[i]);
        }

        // add the joint positions
        for(unsigned int i=0; i<kdlArmPosition.rows(); i++)
        {
            plotMsg.data.push_back(kdlArmPosition.data[i]);
        }

        // add the error norm
        plotMsg.data.push_back(taskError.sumSquare());

        // add the errors
        for(unsigned int i=0; i<taskError.getRows(); i++)
        {
          ROS_INFO_STREAM("=> makePlotMSG: adding taskError at position " << plotMsg.data.size());
          plotMsg.data.push_back(taskError[i]);
        }
    }
bool RobotStatus::reachedPosition(KDL::JntArray reference)
{
    if( reference.rows() != m_n_joints_monitoring )
    {
        ERROR_STREAM("reachedPosition check for " << reference.rows() << " joints while robot status contains " << m_n_joints_monitoring << " joints");
        return false;
    }

    if( m_pos_reached_threshold < 0.0)
    {
        ERROR_STREAM("Check for reachedPosition check while threshold was not set!");
        return false;
    }

    for( int i = 0; i < m_n_joints_monitoring; ++i)
    {
        if( fabs( reference(i) - m_joints_to_monitor(i)) > m_pos_reached_threshold )
            return false;
    }

    return true;
}
///reads Velocity of all manipulator joints
///@param data returns the Velocity per joint
void YouBotKDLInterface::getJointVelocity(KDL::JntArray& data)
{
    data.resize(ARMJOINTS);
	std::vector<youbot::JointSensedVelocity> jointSensedVelocity;
	jointSensedVelocity.resize(ARMJOINTS);  
	youBotManipulator->getJointData(jointSensedVelocity);
	
	data(0) = (double) jointSensedVelocity[0].angularVelocity.value();
	data(1) = (double) jointSensedVelocity[1].angularVelocity.value();
	data(2) = (double) jointSensedVelocity[2].angularVelocity.value();
	data(3) = (double) jointSensedVelocity[3].angularVelocity.value();
	data(4) = (double) jointSensedVelocity[4].angularVelocity.value();
	
}
///reads Position of all manipulator joints
///@param data returns the Position per joint
void YouBotKDLInterface::getJointPosition(KDL::JntArray& data)
{
    data.resize(ARMJOINTS);
	std::vector<youbot::JointSensedAngle> jointSensedAngle;
	jointSensedAngle.resize(ARMJOINTS);  
	youBotManipulator->getJointData(jointSensedAngle);
	
	data(0) = (double) jointSensedAngle[0].angle.value();
	data(1) = (double) jointSensedAngle[1].angle.value();
	data(2) = (double) jointSensedAngle[2].angle.value();
	data(3) = (double) jointSensedAngle[3].angle.value();
	data(4) = (double) jointSensedAngle[4].angle.value();
	
}
bool SNS_IK::nullspaceBiasTask(const KDL::JntArray& q_bias,
                               const std::vector<std::string>& biasNames,
                               MatrixD* jacobian,
                               std::vector<int>* indicies)
{
  ROS_ASSERT_MSG(q_bias.rows() == biasNames.size(), "SNS_IK: Number of joint bias and names differ");
  Task task2;
  *jacobian = MatrixD::Zero(q_bias.rows(), m_jointNames.size());
  indicies->resize(q_bias.rows(), 0);
  std::vector<std::string>::iterator it;
  for (size_t ii = 0; ii < q_bias.rows(); ++ii) {
    it = std::find(m_jointNames.begin(), m_jointNames.end(), biasNames[ii]);
    if (it == m_jointNames.end())
    {
      std::cout << "Could not find bias joint name: " << biasNames[ii] << std::endl;
      return false;
    }
    int indx = std::distance(m_jointNames.begin(), it);
    (*jacobian)(ii, indx) = 1;
    indicies->at(ii) = indx;
  }
  return true;
}
///reads Current of all manipulator joints
///@param data returns the current per joint
void YouBotKDLInterface::getJointCurrent(KDL::JntArray& data)
{
    data.resize(ARMJOINTS);
	std::vector<youbot::JointSensedCurrent> jointSensedCurrent;
	jointSensedCurrent.resize(ARMJOINTS);  
	youBotManipulator->getJointData(jointSensedCurrent);
	
	data(0) = (double) jointSensedCurrent[0].current.value();
	data(1) = (double) jointSensedCurrent[1].current.value();
	data(2) = (double) jointSensedCurrent[2].current.value();
	data(3) = (double) jointSensedCurrent[3].current.value();
	data(4) = (double) jointSensedCurrent[4].current.value();
	
}
bool simpleLeggedOdometry::setJointsState(const KDL::JntArray& qj,
                                          const KDL::JntArray& dqj,
                                          const KDL::JntArray& ddqj)
{
    if( qj.rows() != odometry_model->getNrOfDOFs()  ||
       dqj.rows() != odometry_model->getNrOfDOFs()  ||
       ddqj.rows() != odometry_model->getNrOfDOFs() )
    {
        return false;
    }

    bool ok = true ;

    ok = ok && odometry_model->setAngKDL(qj);
    ok = ok && odometry_model->setDAngKDL(dqj);
    ok = ok && odometry_model->setD2AngKDL(ddqj);

    //Update also the floating base position, given this new joint positions
    KDL::Frame world_H_base = this->getWorldFrameTransform(odometry_model->getFloatingBaseLink());
    ok = ok && odometry_model->setWorldBasePoseKDL(world_H_base);

    return ok;
}
bool FkLookup::ChainFK::parseJointState(const sensor_msgs::JointState &state_in, KDL::JntArray &array_out) const{
    unsigned int num = state_in.name.size();
    int joints_needed = joints.size();
    array_out.resize(joints_needed);
    if(num == state_in.position.size()){
	for(unsigned i = 0; i <  num; ++i){
	    std::map<std::string, unsigned int>::const_iterator it = joints.find(state_in.name[i]);
	    if( it != joints.end()){
		array_out(it->second) = state_in.position[i];
		--joints_needed;
	    }
	}
    }
    return joints_needed == 0;
}
bool FkLookup::ChainFK::parseJointState(const sensor_msgs::JointState &state_in, KDL::JntArray &array_out, std::map<std::string, unsigned int> &missing) const{
    // seed state > robot_state > planning_scene
   if(missing.size() == 0){
        array_out.resize(joints.size());
        missing = joints;
    }
    int joints_needed = missing.size();
    unsigned int num = state_in.name.size();
    if(state_in.name.size() == state_in.position.size()){
	for(unsigned i = 0; i <  num && joints_needed > 0; ++i){
	    std::map<std::string, unsigned int>::iterator it = missing.find(state_in.name[i]);
	    if( it != missing.end()){
		array_out(it->second) = state_in.position[i];
		--joints_needed;
	    }
	}
    }
    return joints_needed == 0;
}
int InverseKinematicsSolver::CartToJnt(const KDL::JntArray& q_init,
		const KDL::Frame& p_in,
		KDL::JntArray &q_out)
{
	ROS_DEBUG("InverseKinematicsSolver::CartToJnt\n");


	std::vector<KDL::JntArray> solution_ik;
	_ik.CartToJnt(q_init, p_in, solution_ik);

	if (solution_ik.empty()) return -1;

	double min_distance = 1e6;
	int min_index = -1;

	for (unsigned int i = 0; i < solution_ik.size(); i++) {
		ROS_DEBUG("Solution : %ud", i);

		for (unsigned int j = 0; j < solution_ik[i].rows(); j++) {
			ROS_DEBUG("%d: %f", j, solution_ik[i](j));
		}
		ROS_DEBUG(" ");
		ROS_DEBUG(" ");

		double tmp_distance = computeEuclideanDistance(solution_ik[i], q_init);
		if (tmp_distance < min_distance) {
			min_distance = tmp_distance;
			min_index = i;
		}
	}

	if (min_index > -1) {
		q_out.resize(solution_ik[min_index].rows());
		for (unsigned int i = 0; i < solution_ik[min_index].rows(); i++) {
			q_out(i) = solution_ik[min_index](i);
		}
		return 1;
	} else {
		return -1;
	}
}
    void ITRCartesianImpedanceController::multiplyJacobian(const KDL::Jacobian& jac, const KDL::Wrench& src, KDL::JntArray& dest)
    {
        Eigen::Matrix<double,6,1> w;
        w(0) = src.force(0);
        w(1) = src.force(1);
        w(2) = src.force(2);
        w(3) = src.torque(0);
        w(4) = src.torque(1);
        w(5) = src.torque(2);

        Eigen::MatrixXd j(jac.rows(), jac.columns());
        j = jac.data;
        j.transposeInPlace();

        Eigen::VectorXd t(jac.columns());
        t = j*w;

        dest.resize(jac.columns());
        for (unsigned i=0; i<jac.columns(); i++)
        dest(i) = t(i);
    }
    int TreeIdSolver_RNE::CartToJnt(const KDL::JntArray &q, const KDL::JntArray &q_dot, const KDL::JntArray &q_dotdot, const Twist& base_velocity, const Twist& base_acceleration, const Wrenches& f_ext,JntArray &torques, Wrench& base_force)
    {
        if( q.rows() != undirected_tree.getNrOfDOFs() ||
            q_dot.rows() != q.rows()                  ||
            q_dotdot.rows() != q.rows()               ||
            f_ext.size() != undirected_tree.getNrOfLinks() ||
            torques.rows() != q.rows() ) return -1; 
        
        base_force = Wrench::Zero();

        rneaKinematicLoop(undirected_tree,q,q_dot,q_dotdot,traversal,base_velocity,base_acceleration,v,a);
        
        rneaDynamicLoop(undirected_tree,q,traversal,v,a,f_ext,f,torques,base_force);
        
        return 0;
    }
    VirtualForcePublisher()
    {
        ros::NodeHandle n_tilde("~");
        ros::NodeHandle n;

        // subscribe to joint state
        joint_state_sub_ = n.subscribe("joint_states", 1, &VirtualForcePublisher::callbackJointState, this);
        wrench_stamped_pub_ = n.advertise<geometry_msgs::WrenchStamped>("wrench", 1);

        // set publish frequency
        double publish_freq;
        n_tilde.param("publish_frequency", publish_freq, 50.0);
        publish_interval_ = ros::Duration(1.0/std::max(publish_freq,1.0));

        //set time constant of low pass filter
        n_tilde.param("time_constant", t_const_, 0.3);
        // set root and tip
        n_tilde.param("root", root, std::string("torso_lift_link"));
        n_tilde.param("tip", tip, std::string("l_gripper_tool_frame"));

        // load robot model
        urdf::Model robot_model;
        robot_model.initParam("robot_description");

        KDL::Tree kdl_tree;
        kdl_parser::treeFromUrdfModel(robot_model, kdl_tree);
        kdl_tree.getChain(root, tip, chain_);
        jnt_to_jac_solver_.reset(new KDL::ChainJntToJacSolver(chain_));

        jnt_pos_.resize(chain_.getNrOfJoints());
        jacobian_.resize(chain_.getNrOfJoints());

        for (size_t i=0; i<chain_.getNrOfSegments(); i++) {
            if (chain_.getSegment(i).getJoint().getType() != KDL::Joint::None) {
                std::cerr << "kdl_chain(" << i << ") " << chain_.getSegment(i).getJoint().getName().c_str() << std::endl;
            }
        }
    }
    int ChainIdSolver_RNE_FB::CartToJnt(const KDL::JntArray &q, const KDL::JntArray &q_dot, const KDL::JntArray &q_dotdot,  const Twist& base_velocity, const Twist& base_acceleration, const Wrenches& f_ext, KDL::JntArray &torques, Wrench& base_force)
    {
        //Check sizes when in debug mode
        if(q.rows()!=nj || q_dot.rows()!=nj || q_dotdot.rows()!=nj || torques.rows()!=nj || f_ext.size()!=ns)
            return -1;
        unsigned int j=0;

        //Sweep from root to leaf
        for(unsigned int i=0;i<ns;i++){
            double q_,qdot_,qdotdot_;
            Segment segm;
            segm = chain.getSegment(i);
            if(segm.getJoint().getType()!=Joint::None){
                q_=q(j);
                qdot_=q_dot(j);
                qdotdot_=q_dotdot(j);
                j++;
            }else
                q_=qdot_=qdotdot_=0.0;
            
            //Calculate segment properties: X,S,vj,cj
            X[i]=segm.pose(q_);//Remark this is the inverse of the
                                                //frame for transformations from 
                                                //the parent to the current coord frame
            //Transform velocity and unit velocity to segment frame
            Twist vj=X[i].M.Inverse(segm.twist(q_,qdot_));
            S[i]=X[i].M.Inverse(segm.twist(q_,1.0));
            //We can take cj=0, see remark section 3.5, page 55 since the unit velocity vector S of our joints is always time constant
            //calculate velocity and acceleration of the segment (in segment coordinates)
            if(i==0){
                v[i]=X[i].Inverse(base_velocity)+vj;
                a[i]=X[i].Inverse(base_acceleration)+S[i]*qdotdot_+v[i]*vj;
            }else{
                v[i]=X[i].Inverse(v[i-1])+vj;
                a[i]=X[i].Inverse(a[i-1])+S[i]*qdotdot_+v[i]*vj;
            }
            //Calculate the force for the joint
            //Collect RigidBodyInertia and external forces
            RigidBodyInertia Ii=segm.getInertia();
            f[i]=Ii*a[i]+v[i]*(Ii*v[i])-f_ext[i];
            //std::cout << "aLink " << segm.getName() << "\na= " << a[i]  << "\nv= " << v[i] << "\nf= " << f[i] << "\nf_ext= " << f_ext[i]  << std::endl;
            //std::cout << "a["<<i<<"]=" << a[i] << "\n f["<<i<<"]=" << f[i] << "\n S["<<i<<"]=" << S[i] << std::endl;
        }
        //Sweep from leaf to root
        j=nj-1;
        for(int i=ns-1;i>=0;i--){
        	Segment segm;
        	segm = chain.getSegment(i);
            if(segm.getJoint().getType()!=Joint::None)
                torques(j--)=dot(S[i],f[i]);
            if(i!=0)
                f[i-1]=f[i-1]+X[i]*f[i];
        }
        base_force = X[0]*f[0];
        //debug
        for(int i=0; i < (int)ns; i++) {
            Segment segm;
        	segm = chain.getSegment(i);
            //std::cout << "bLink " << segm.getName() << " a= " << a[i] << " f= " << f[i] << std::endl;
        }
        
	return 0;
    }