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Implement differential IK API. #6

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Merged
kylc merged 1 commit into from
Sep 7, 2025
Merged

Implement differential IK API. #6

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187 changes: 179 additions & 8 deletions Cargo.lock
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1 change: 1 addition & 0 deletions Cargo.toml
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Expand Up @@ -17,6 +17,7 @@ rust-version = "1.85"
optik = { path = "crates/optik" }

# Solver
clarabel = "0.11"
nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "main", features = [ "rand", "serde-serialize" ] }
nlopt = { git = "https://github.com/kylc/rust-nlopt.git", branch = "optik-patches" }
ordered-float = "4.2"
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3 changes: 3 additions & 0 deletions crates/optik-cpp/Cargo.toml
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Expand Up @@ -10,6 +10,9 @@ rust-version.workspace = true
name = "optikcpp"
crate-type = ["staticlib"]

[lints]
workspace = true

[dependencies]
nalgebra.workspace = true
optik.workspace = true
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9 changes: 9 additions & 0 deletions crates/optik-cpp/include/optik.hpp
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Expand Up @@ -84,6 +84,15 @@ class Robot final {
bool DoIk(const SolverConfig& config, const Eigen::Isometry3d& target,
const Eigen::VectorXd& x0, Eigen::VectorXd* q) const;

//! Attempts to solve for the velocity `v` which satisfies `v * J(q) = V_WE`.
//!
//! If `true` is returned, then out-parameter `v` will contain the solution
//! joint velocity. Otherwise, the solve has not converged and `v` will be
//! left untouched.
bool DoDiffIk(const Eigen::VectorXd& x0,
const Eigen::Matrix<double, 6, 1>& V_WE,
const Eigen::VectorXd& v_max, Eigen::VectorXd* v) const;

//! Returns the size of the generalized position vector of this robot.
unsigned int num_positions() const noexcept;

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17 changes: 17 additions & 0 deletions crates/optik-cpp/src/lib.cpp
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Expand Up @@ -25,6 +25,9 @@ extern double* optik_robot_fk(const optik::detail::robot* robot,
extern double* optik_robot_ik(const optik::detail::robot* robot,
const optik::SolverConfig* config,
const double* target, const double* x0);
extern double* optik_robot_diff_ik(const optik::detail::robot* robot,
const double* x0, const double* V_WE,
const double* v_max);
}

namespace optik {
Expand Down Expand Up @@ -116,6 +119,20 @@ bool Robot::DoIk(const SolverConfig& config, const Eigen::Isometry3d& target,
}
}

bool Robot::DoDiffIk(const Eigen::VectorXd& x0,
const Eigen::Matrix<double, 6, 1>& V_WE,
const Eigen::VectorXd& v_max, Eigen::VectorXd* v) const {
double* v_data =
optik_robot_diff_ik(inner_, x0.data(), V_WE.data(), v_max.data());
if (v_data != nullptr) {
*v = Eigen::Map<Eigen::VectorXd>(v_data, num_positions());
free(v_data);
return true;
} else {
return false;
}
}

unsigned int Robot::num_positions() const noexcept {
return optik_robot_num_positions(inner_);
}
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