71 lines
2.5 KiB
C++
71 lines
2.5 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Julia Jesse
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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 "treefksolverpos_recursive.hpp"
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#include <iostream>
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namespace KDL {
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TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree):
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tree(_tree)
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{
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}
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int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)
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{
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SegmentMap::const_iterator it = tree.getSegment(segmentName);
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SegmentMap::const_iterator baseit = tree.getSegment(baseName);
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if(q_in.rows() != tree.getNrOfJoints())
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return -1;
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else if(it == tree.getSegments().end()) //if the segment name is not found
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return -2;
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else if(baseit == tree.getSegments().end()) //if the base segment name is not found
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return -3;
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else{
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p_out = recursiveFk(q_in, it, baseit);
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return 0;
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}
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}
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Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit)
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{
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//gets the frame for the current element (segment)
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const TreeElement& currentElement = it->second;
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if(it == baseit){
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return KDL::Frame::Identity();
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}
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else{
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Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr));
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SegmentMap::const_iterator parentIt = currentElement.parent;
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return recursiveFk(q_in, parentIt, baseit) * currentFrame;
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}
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}
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TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive()
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{
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}
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}
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