130 lines
3.8 KiB
C++
130 lines
3.8 KiB
C++
// 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 "jacobian.hpp"
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namespace KDL
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{
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Jacobian::Jacobian(unsigned int _size,unsigned int _nr_blocks):
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size(_size),nr_blocks(_nr_blocks)
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{
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twists = new Twist[size*nr_blocks];
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}
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Jacobian::Jacobian(const Jacobian& arg):
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size(arg.columns()),
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nr_blocks(arg.nr_blocks)
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{
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twists = new Twist[size*nr_blocks];
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for(unsigned int i=0;i<size*nr_blocks;i++)
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twists[i] = arg.twists[i];
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}
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Jacobian& Jacobian::operator = (const Jacobian& arg)
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{
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assert(size==arg.size);
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assert(nr_blocks==arg.nr_blocks);
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for(unsigned int i=0;i<size;i++)
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twists[i]=arg.twists[i];
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return *this;
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}
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Jacobian::~Jacobian()
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{
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delete [] twists;
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}
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double Jacobian::operator()(int i,int j)const
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{
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assert(i<6*(int)nr_blocks&&j<(int)size);
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return twists[j+6*(int)(floor((double)i/6))](i%6);
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}
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double& Jacobian::operator()(int i,int j)
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{
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assert(i<6*(int)nr_blocks&&j<(int)size);
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return twists[j+6*(int)(floor((double)i/6))](i%6);
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}
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unsigned int Jacobian::rows()const
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{
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return 6*nr_blocks;
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}
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unsigned int Jacobian::columns()const
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{
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return size;
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}
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void SetToZero(Jacobian& jac)
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{
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for(unsigned int i=0;i<jac.size*jac.nr_blocks;i++)
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SetToZero(jac.twists[i]);
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}
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void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest)
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{
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assert(src1.size==dest.size);
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assert(src1.nr_blocks==dest.nr_blocks);
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for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
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dest.twists[i]=src1.twists[i].RefPoint(base_AB);
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}
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void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest)
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{
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assert(src1.size==dest.size);
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assert(src1.nr_blocks==dest.nr_blocks);
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for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
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dest.twists[i]=rot*src1.twists[i];
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}
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void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest)
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{
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assert(src1.size==dest.size);
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assert(src1.nr_blocks==dest.nr_blocks);
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for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
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dest.twists[i]=frame*src1.twists[i];
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}
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bool Jacobian::operator ==(const Jacobian& arg)
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{
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return Equal((*this),arg);
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}
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bool Jacobian::operator!=(const Jacobian& arg)
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{
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return !Equal((*this),arg);
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}
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bool Equal(const Jacobian& a,const Jacobian& b,double eps)
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{
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if(a.rows()==b.rows()&&a.columns()==b.columns()){
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bool rc=true;
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for(unsigned int i=0;i<a.columns();i++)
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rc&=Equal(a.twists[i],b.twists[i],eps);
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return rc;
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}else
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return false;
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}
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}
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