157 lines
4.6 KiB
C++
157 lines
4.6 KiB
C++
/** \file itasc/kdl/joint.cpp
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* \ingroup 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 "joint.hpp"
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namespace KDL {
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Joint::Joint(const JointType& _type, const double& _scale, const double& _offset,
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const double& _inertia, const double& _damping, const double& _stiffness):
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type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
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{
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// for sphere and swing, offset is not used, assume no offset
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}
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Joint::Joint(const Joint& in):
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type(in.type),scale(in.scale),offset(in.offset),
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inertia(in.inertia),damping(in.damping),stiffness(in.stiffness)
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{
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}
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Joint& Joint::operator=(const Joint& in)
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{
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type=in.type;
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scale=in.scale;
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offset=in.offset;
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inertia=in.inertia;
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damping=in.damping;
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stiffness=in.stiffness;
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return *this;
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}
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Joint::~Joint()
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{
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}
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Frame Joint::pose(const double& q)const
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{
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switch(type){
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case RotX:
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return Frame(Rotation::RotX(scale*q+offset));
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break;
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case RotY:
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return Frame(Rotation::RotY(scale*q+offset));
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break;
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case RotZ:
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return Frame(Rotation::RotZ(scale*q+offset));
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break;
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case TransX:
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return Frame(Vector(scale*q+offset,0.0,0.0));
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break;
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case TransY:
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return Frame(Vector(0.0,scale*q+offset,0.0));
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break;
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case TransZ:
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return Frame(Vector(0.0,0.0,scale*q+offset));
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break;
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case Sphere:
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// the joint angles represent a rotation vector expressed in the base frame of the joint
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// (= the frame you get when there is no offset nor rotation)
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return Frame(Rot(Vector((&q)[0], (&q)[1], (&q)[2])));
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break;
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case Swing:
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// the joint angles represent a 2D rotation vector in the XZ planee of the base frame of the joint
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// (= the frame you get when there is no offset nor rotation)
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return Frame(Rot(Vector((&q)[0], 0.0, (&q)[1])));
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break;
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default:
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return Frame::Identity();
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break;
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}
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}
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Twist Joint::twist(const double& qdot, int dof)const
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{
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switch(type){
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case RotX:
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return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
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break;
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case RotY:
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return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0));
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break;
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case RotZ:
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return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
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break;
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case TransX:
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return Twist(Vector(scale*qdot,0.0,0.0),Vector(0.0,0.0,0.0));
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break;
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case TransY:
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return Twist(Vector(0.0,scale*qdot,0.0),Vector(0.0,0.0,0.0));
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break;
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case TransZ:
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return Twist(Vector(0.0,0.0,scale*qdot),Vector(0.0,0.0,0.0));
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break;
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case Swing:
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switch (dof) {
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case 0:
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return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
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case 1:
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return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
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}
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return Twist::Zero();
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case Sphere:
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switch (dof) {
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case 0:
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return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
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case 1:
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return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0));
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case 2:
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return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
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}
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return Twist::Zero();
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default:
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return Twist::Zero();
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break;
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}
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}
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unsigned int Joint::getNDof() const
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{
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switch (type) {
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case Sphere:
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return 3;
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case Swing:
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return 2;
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case None:
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return 0;
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default:
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return 1;
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}
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}
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} // end of namespace KDL
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