forked from bartvdbraak/blender
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>
|
|
|
|
// Version: 1.0
|
|
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// URL: http://www.orocos.org/kdl
|
|
|
|
// This library is free software; you can redistribute it and/or
|
|
// modify it under the terms of the GNU Lesser General Public
|
|
// License as published by the Free Software Foundation; either
|
|
// version 2.1 of the License, or (at your option) any later version.
|
|
|
|
// This library is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
// Lesser General Public License for more details.
|
|
|
|
// You should have received a copy of the GNU Lesser General Public
|
|
// License along with this library; if not, write to the Free Software
|
|
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
|
|
#ifndef KDL_JNTARRAY_HPP
|
|
#define KDL_JNTARRAY_HPP
|
|
|
|
#include "frames.hpp"
|
|
#include "jacobian.hpp"
|
|
|
|
namespace KDL
|
|
{
|
|
/**
|
|
* @brief This class represents an fixed size array containing
|
|
* joint values of a KDL::Chain.
|
|
*
|
|
* \warning An object constructed with the default constructor provides
|
|
* a valid, but inert, object. Many of the member functions will do
|
|
* the correct thing and have no affect on this object, but some
|
|
* member functions can _NOT_ deal with an inert/empty object. These
|
|
* functions will assert() and exit the program instead. The intended use
|
|
* case for the default constructor (in an RTT/OCL setting) is outlined in
|
|
* code below - the default constructor plus the resize() function allow
|
|
* use of JntArray objects whose size is set within a configureHook() call
|
|
* (typically based on a size determined from a property).
|
|
|
|
\code
|
|
class MyTask : public RTT::TaskContext
|
|
{
|
|
JntArray j;
|
|
MyTask()
|
|
{} // invokes j's default constructor
|
|
|
|
bool configureHook()
|
|
{
|
|
unsigned int size = some_property.rvalue();
|
|
j.resize(size)
|
|
...
|
|
}
|
|
|
|
void updateHook()
|
|
{
|
|
** use j here
|
|
}
|
|
};
|
|
\endcode
|
|
|
|
*/
|
|
|
|
class JntArray
|
|
{
|
|
private:
|
|
unsigned int size;
|
|
double* data;
|
|
public:
|
|
/** Construct with _no_ data array
|
|
* @post NULL == data
|
|
* @post 0 == rows()
|
|
* @warning use of an object constructed like this, without
|
|
* a resize() first, may result in program exit! See class
|
|
* documentation.
|
|
*/
|
|
JntArray();
|
|
/**
|
|
* Constructor of the joint array
|
|
*
|
|
* @param size size of the array, this cannot be changed
|
|
* afterwards.
|
|
* @pre 0 < size
|
|
* @post NULL != data
|
|
* @post 0 < rows()
|
|
* @post all elements in data have 0 value
|
|
*/
|
|
JntArray(unsigned int size);
|
|
/** Copy constructor
|
|
* @note Will correctly copy an empty object
|
|
*/
|
|
JntArray(const JntArray& arg);
|
|
~JntArray();
|
|
/** Resize the array
|
|
* @warning This causes a dynamic allocation (and potentially
|
|
* also a dynamic deallocation). This _will_ negatively affect
|
|
* real-time performance!
|
|
*
|
|
* @post newSize == rows()
|
|
* @post NULL != data
|
|
* @post all elements in data have 0 value
|
|
*/
|
|
void resize(unsigned int newSize);
|
|
|
|
JntArray& operator = ( const JntArray& arg);
|
|
/**
|
|
* get_item operator for the joint array
|
|
*
|
|
*
|
|
* @return the joint value at position i, starting from 0
|
|
* @pre 0 != size (ie non-default constructor or resize() called)
|
|
*/
|
|
double operator[](unsigned int i) const;
|
|
/**
|
|
* set_item operator
|
|
*
|
|
* @return reference to the joint value at position i,starting
|
|
*from zero.
|
|
* @pre 0 != size (ie non-default constructor or resize() called)
|
|
*/
|
|
double& operator[](unsigned int i);
|
|
/**
|
|
* access operator for the joint array. Use pointer here to allow
|
|
* access to sequential joint angles (required for ndof joints)
|
|
*
|
|
*
|
|
* @return the joint value at position i, NULL if i is outside the valid range
|
|
*/
|
|
double* operator()(unsigned int i);
|
|
/**
|
|
* Returns the number of rows (size) of the array
|
|
*
|
|
*/
|
|
unsigned int rows()const;
|
|
/**
|
|
* Returns the number of columns of the array, always 1.
|
|
*/
|
|
unsigned int columns()const;
|
|
|
|
/**
|
|
* Function to add two joint arrays, all the arguments must
|
|
* have the same size: A + B = C. This function is
|
|
* aliasing-safe, A or B can be the same array as C.
|
|
*
|
|
* @param src1 A
|
|
* @param src2 B
|
|
* @param dest C
|
|
*/
|
|
friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest);
|
|
/**
|
|
* Function to subtract two joint arrays, all the arguments must
|
|
* have the same size: A - B = C. This function is
|
|
* aliasing-safe, A or B can be the same array as C.
|
|
*
|
|
* @param src1 A
|
|
* @param src2 B
|
|
* @param dest C
|
|
*/
|
|
friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
|
|
/**
|
|
* Function to multiply all the array values with a scalar
|
|
* factor: A*b=C. This function is aliasing-safe, A can be the
|
|
* same array as C.
|
|
*
|
|
* @param src A
|
|
* @param factor b
|
|
* @param dest C
|
|
*/
|
|
friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
|
|
/**
|
|
* Function to divide all the array values with a scalar
|
|
* factor: A/b=C. This function is aliasing-safe, A can be the
|
|
* same array as C.
|
|
*
|
|
* @param src A
|
|
* @param factor b
|
|
* @param dest C
|
|
*/
|
|
friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
|
|
/**
|
|
* Function to multiply a KDL::Jacobian with a KDL::JntArray
|
|
* to get a KDL::Twist, it should not be used to calculate the
|
|
* forward velocity kinematics, the solver classes are built
|
|
* for this purpose.
|
|
* J*q = t
|
|
*
|
|
* @param jac J
|
|
* @param src q
|
|
* @param dest t
|
|
* @post dest==Twist::Zero() if 0==src.rows() (ie src is empty)
|
|
*/
|
|
friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
|
|
/**
|
|
* Function to set all the values of the array to 0
|
|
*
|
|
* @param array
|
|
*/
|
|
friend void SetToZero(JntArray& array);
|
|
/**
|
|
* Function to check if two arrays are the same with a
|
|
*precision of eps
|
|
*
|
|
* @param src1
|
|
* @param src2
|
|
* @param eps default: epsilon
|
|
* @return true if each element of src1 is within eps of the same
|
|
* element in src2, or if both src1 and src2 have no data (ie 0==rows())
|
|
*/
|
|
friend bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);
|
|
|
|
friend bool operator==(const JntArray& src1,const JntArray& src2);
|
|
//friend bool operator!=(const JntArray& src1,const JntArray& src2);
|
|
};
|
|
|
|
bool operator==(const JntArray& src1,const JntArray& src2);
|
|
//bool operator!=(const JntArray& src1,const JntArray& src2);
|
|
|
|
}
|
|
|
|
#endif
|