224 lines
7.4 KiB
C++
224 lines
7.4 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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#ifndef KDL_JNTARRAY_HPP
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#define KDL_JNTARRAY_HPP
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#include "frames.hpp"
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#include "jacobian.hpp"
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namespace KDL
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{
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/**
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* @brief This class represents an fixed size array containing
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* joint values of a KDL::Chain.
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*
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* \warning An object constructed with the default constructor provides
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* a valid, but inert, object. Many of the member functions will do
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* the correct thing and have no affect on this object, but some
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* member functions can _NOT_ deal with an inert/empty object. These
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* functions will assert() and exit the program instead. The intended use
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* case for the default constructor (in an RTT/OCL setting) is outlined in
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* code below - the default constructor plus the resize() function allow
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* use of JntArray objects whose size is set within a configureHook() call
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* (typically based on a size determined from a property).
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\code
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class MyTask : public RTT::TaskContext
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{
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JntArray j;
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MyTask()
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{} // invokes j's default constructor
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bool configureHook()
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{
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unsigned int size = some_property.rvalue();
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j.resize(size)
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...
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}
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void updateHook()
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{
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** use j here
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}
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};
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\endcode
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*/
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class JntArray
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{
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private:
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unsigned int size;
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double* data;
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public:
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/** Construct with _no_ data array
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* @post NULL == data
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* @post 0 == rows()
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* @warning use of an object constructed like this, without
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* a resize() first, may result in program exit! See class
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* documentation.
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*/
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JntArray();
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/**
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* Constructor of the joint array
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*
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* @param size size of the array, this cannot be changed
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* afterwards.
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* @pre 0 < size
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* @post NULL != data
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* @post 0 < rows()
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* @post all elements in data have 0 value
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*/
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JntArray(unsigned int size);
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/** Copy constructor
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* @note Will correctly copy an empty object
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*/
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JntArray(const JntArray& arg);
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~JntArray();
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/** Resize the array
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* @warning This causes a dynamic allocation (and potentially
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* also a dynamic deallocation). This _will_ negatively affect
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* real-time performance!
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*
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* @post newSize == rows()
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* @post NULL != data
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* @post all elements in data have 0 value
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*/
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void resize(unsigned int newSize);
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JntArray& operator = ( const JntArray& arg);
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/**
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* get_item operator for the joint array
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*
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*
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* @return the joint value at position i, starting from 0
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* @pre 0 != size (ie non-default constructor or resize() called)
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*/
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double operator[](unsigned int i) const;
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/**
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* set_item operator
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*
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* @return reference to the joint value at position i,starting
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*from zero.
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* @pre 0 != size (ie non-default constructor or resize() called)
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*/
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double& operator[](unsigned int i);
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/**
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* access operator for the joint array. Use pointer here to allow
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* access to sequential joint angles (required for ndof joints)
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*
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*
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* @return the joint value at position i, NULL if i is outside the valid range
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*/
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double* operator()(unsigned int i);
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/**
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* Returns the number of rows (size) of the array
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*
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*/
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unsigned int rows()const;
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/**
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* Returns the number of columns of the array, always 1.
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*/
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unsigned int columns()const;
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/**
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* Function to add two joint arrays, all the arguments must
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* have the same size: A + B = C. This function is
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* aliasing-safe, A or B can be the same array as C.
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*
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* @param src1 A
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* @param src2 B
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* @param dest C
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*/
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friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
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/**
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* Function to subtract two joint arrays, all the arguments must
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* have the same size: A - B = C. This function is
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* aliasing-safe, A or B can be the same array as C.
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*
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* @param src1 A
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* @param src2 B
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* @param dest C
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*/
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friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
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/**
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* Function to multiply all the array values with a scalar
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* factor: A*b=C. This function is aliasing-safe, A can be the
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* same array as C.
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*
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* @param src A
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* @param factor b
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* @param dest C
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*/
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friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
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/**
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* Function to divide all the array values with a scalar
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* factor: A/b=C. This function is aliasing-safe, A can be the
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* same array as C.
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*
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* @param src A
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* @param factor b
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* @param dest C
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*/
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friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
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/**
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* Function to multiply a KDL::Jacobian with a KDL::JntArray
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* to get a KDL::Twist, it should not be used to calculate the
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* forward velocity kinematics, the solver classes are built
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* for this purpose.
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* J*q = t
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*
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* @param jac J
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* @param src q
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* @param dest t
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* @post dest==Twist::Zero() if 0==src.rows() (ie src is empty)
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*/
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friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
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/**
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* Function to set all the values of the array to 0
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*
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* @param array
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*/
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friend void SetToZero(JntArray& array);
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/**
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* Function to check if two arrays are the same with a
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*precision of eps
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*
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* @param src1
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* @param src2
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* @param eps default: epsilon
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* @return true if each element of src1 is within eps of the same
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* element in src2, or if both src1 and src2 have no data (ie 0==rows())
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*/
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friend bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);
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friend bool operator==(const JntArray& src1,const JntArray& src2);
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//friend bool operator!=(const JntArray& src1,const JntArray& src2);
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};
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bool operator==(const JntArray& src1,const JntArray& src2);
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//bool operator!=(const JntArray& src1,const JntArray& src2);
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}
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#endif
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