120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Mikael Mayer
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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 "chainiksolverpos_nr_jl.hpp"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846 /* pi */
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923 /* pi/2 */
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#endif
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namespace KDL
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{
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ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(const Chain& _chain, const JntArray& _q_min, const JntArray& _q_max, ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
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unsigned int _maxiter, double _eps):
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chain(_chain), q_min(chain.getNrOfJoints()), q_max(chain.getNrOfJoints()), fksolver(_fksolver),iksolver(_iksolver),delta_q(_chain.getNrOfJoints()),
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maxiter(_maxiter),eps(_eps)
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{
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q_min = _q_min;
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q_max = _q_max;
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}
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int ChainIkSolverPos_NR_JL::CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)
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{
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q_out = q_init;
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unsigned int i;
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for(i=0;i<maxiter;i++){
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fksolver.JntToCart(q_out,f);
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delta_twist = diff(f,p_in);
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if(Equal(delta_twist,Twist::Zero(),eps))
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break;
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iksolver.CartToJnt(q_out,delta_twist,delta_q);
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Add(q_out,delta_q,q_out);
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for(unsigned int j=0; j<q_min.rows(); j++) {
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if(q_out(j) < q_min(j))
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//q_out(j) = q_min(j);
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q_out(j) = q_out(j) + M_PI *2;
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}
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for(unsigned int j=0; j<q_max.rows(); j++) {
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if(q_out(j) > q_max(j))
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//q_out(j) = q_max(j);
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q_out(j) = q_out(j) - M_PI *2;
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}
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}
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if(i!=maxiter)
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return 0;
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else
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return -3;
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}
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ChainIkSolverPos_NR_JL::~ChainIkSolverPos_NR_JL()
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{
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}
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}
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