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// Copyright (C) 2007 Francois Cauwe <francois at cauwe dot org>
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library 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
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#include "chainfksolvervel_recursive.hpp"
namespace KDL
{
ChainFkSolverVel_recursive::ChainFkSolverVel_recursive(const Chain& _chain):
chain(_chain)
{
}
ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive()
{
}
int ChainFkSolverVel_recursive::JntToCart(const JntArrayVel& in,FrameVel& out,int segmentNr)
{
if(segmentNr<0)
segmentNr=chain.getNrOfSegments();
out=FrameVel::Identity();
if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints()))
return -1;
else if(segmentNr>chain.getNrOfSegments())
return -1;
else{
int j=0;
for (unsigned int i=0;i<segmentNr;i++) {
//Calculate new Frame_base_ee
if(chain.getSegment(i).getJoint().getType()!=Joint::None){
out=out*FrameVel(chain.getSegment(i).pose(in.q(j)),
chain.getSegment(i).twist(in.q(j),in.qdot(j)));
j++;//Only increase jointnr if the segment has a joint
}else{
out=out*FrameVel(chain.getSegment(i).pose(0.0),
chain.getSegment(i).twist(0.0,0.0));
}
}
return 0;
}
}
}
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