f6fd3a84c2
- Nest compositor pages under the compositor module - Nest GUI, DNA/RNA & externformats modules under Blender. - Remove modules from intern which no longer exist. - Add intern modules (atomic, eigen, glew-mx, libc_compat, locale, numaapi, rigidbody, sky, utfconv). - Use 'intern_' prefix for intern modules since some of the modules use generic terms such as locale & atomic.
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/** \file itasc/kdl/chainjnttojacsolver.cpp
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* \ingroup intern_itasc
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*/
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "chainjnttojacsolver.hpp"
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namespace KDL
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{
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ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain):
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chain(_chain)
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{
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}
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ChainJntToJacSolver::~ChainJntToJacSolver()
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{
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}
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int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac)
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{
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assert(q_in.rows()==chain.getNrOfJoints()&&
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q_in.rows()==jac.columns());
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Frame T_local, T_joint;
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T_total = Frame::Identity();
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SetToZero(t_local);
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int i=chain.getNrOfSegments()-1;
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unsigned int q_nr = chain.getNrOfJoints();
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//Lets recursively iterate until we are in the root segment
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while (i >= 0) {
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const Segment& segment = chain.getSegment(i);
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int ndof = segment.getJoint().getNDof();
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q_nr -= ndof;
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//get the pose of the joint.
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T_joint = segment.getJoint().pose(((JntArray&)q_in)(q_nr));
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// combine with the tip to have the tip pose
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T_local = T_joint*segment.getFrameToTip();
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//calculate new T_end:
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T_total = T_local * T_total;
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for (int dof=0; dof<ndof; dof++) {
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// combine joint rotation with tip position to get a reference frame for the joint
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T_joint.p = T_local.p;
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// in which the twist can be computed (needed for NDof joint)
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t_local = segment.twist(T_joint, 1.0, dof);
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//transform the endpoint of the local twist to the global endpoint:
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t_local = t_local.RefPoint(T_total.p - T_local.p);
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//transform the base of the twist to the endpoint
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t_local = T_total.M.Inverse(t_local);
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//store the twist in the jacobian:
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jac.twists[q_nr+dof] = t_local;
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}
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i--;
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}//endwhile
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//Change the base of the complete jacobian from the endpoint to the base
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changeBase(jac, T_total.M, jac);
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return 0;
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}
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}
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