forked from bartvdbraak/blender
65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/** \file itasc/kdl/chainfksolverpos_recursive.cpp
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* \ingroup itasc
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*/
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// Copyright (C) 2007 Francois Cauwe <francois at cauwe dot org>
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// 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 "chainfksolverpos_recursive.hpp"
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#include <iostream>
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namespace KDL {
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ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(const Chain& _chain):
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chain(_chain)
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{
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}
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int ChainFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr)
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{
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unsigned int segNr = (unsigned int)segmentNr;
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if(segmentNr<0)
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segNr=chain.getNrOfSegments();
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p_out = Frame::Identity();
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if(q_in.rows()!=chain.getNrOfJoints())
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return -1;
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else if(segNr>chain.getNrOfSegments())
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return -1;
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else{
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int j=0;
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for(unsigned int i=0;i<segNr;i++){
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p_out = p_out*chain.getSegment(i).pose(((JntArray&)q_in)(j));
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j+=chain.getSegment(i).getJoint().getNDof();
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}
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return 0;
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}
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}
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ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive()
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{
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}
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}
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