forked from bartvdbraak/blender
79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
/*
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* TreeJntToJacSolver.cpp
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*
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* Created on: Nov 27, 2008
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* Author: rubensmits
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*/
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#include "treejnttojacsolver.hpp"
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#include <iostream>
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namespace KDL {
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TreeJntToJacSolver::TreeJntToJacSolver(const Tree& tree_in) :
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tree(tree_in) {
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}
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TreeJntToJacSolver::~TreeJntToJacSolver() {
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}
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int TreeJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac,
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const std::string& segmentname) {
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//First we check all the sizes:
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if (q_in.rows() != tree.getNrOfJoints() || jac.columns()
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!= tree.getNrOfJoints())
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return -1;
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//Lets search the tree-element
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SegmentMap::const_iterator it = tree.getSegments().find(segmentname);
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//If segmentname is not inside the tree, back out:
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if (it == tree.getSegments().end())
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return -2;
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//Let's make the jacobian zero:
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SetToZero(jac);
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SegmentMap::const_iterator root = tree.getSegments().find("root");
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Frame T_total = Frame::Identity();
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Frame T_local, T_joint;
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Twist t_local;
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//Lets recursively iterate until we are in the root segment
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while (it != root) {
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//get the corresponding q_nr for this TreeElement:
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unsigned int q_nr = it->second.q_nr;
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//get the pose of the joint.
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T_joint = it->second.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*it->second.segment.getFrameToTip();
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//calculate new T_end:
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T_total = T_local * T_total;
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//get the twist of the segment:
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int ndof = it->second.segment.getJoint().getNDof();
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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 = it->second.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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//goto the parent
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it = it->second.parent;
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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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}//end JntToJac
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}//end namespace
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