108 lines
3.7 KiB
C++
108 lines
3.7 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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#include "chainjnttojacsolver.hpp"
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namespace KDL
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{
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ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain):
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chain(_chain),locked_joints_(chain.getNrOfJoints(),false),
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nr_of_unlocked_joints_(chain.getNrOfJoints())
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{
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}
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ChainJntToJacSolver::~ChainJntToJacSolver()
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{
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}
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int ChainJntToJacSolver::setLockedJoints(const std::vector<bool> locked_joints)
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{
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if(locked_joints.size()!=locked_joints_.size())
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return -1;
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locked_joints_=locked_joints;
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nr_of_unlocked_joints_=0;
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for(unsigned int i=0;i<locked_joints_.size();i++){
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if(!locked_joints_[i])
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nr_of_unlocked_joints_++;
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}
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return 0;
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}
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int ChainJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac, int seg_nr)
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{
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unsigned int segmentNr;
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if(seg_nr<0)
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segmentNr=chain.getNrOfSegments();
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else
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segmentNr = seg_nr;
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//Initialize Jacobian to zero since only segmentNr columns are computed
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SetToZero(jac) ;
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if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns())
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return (error = E_JAC_FAILED);
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else if(segmentNr>chain.getNrOfSegments())
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return (error = E_JAC_FAILED);
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T_tmp = Frame::Identity();
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SetToZero(t_tmp);
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int j=0;
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int k=0;
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Frame total;
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for (unsigned int i=0;i<segmentNr;i++) {
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//Calculate new Frame_base_ee
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if(chain.getSegment(i).getJoint().getType()!=Joint::None){
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//pose of the new end-point expressed in the base
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total = T_tmp*chain.getSegment(i).pose(q_in(j));
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//changing base of new segment's twist to base frame if it is not locked
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//t_tmp = T_tmp.M*chain.getSegment(i).twist(1.0);
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if(!locked_joints_[j])
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t_tmp = T_tmp.M*chain.getSegment(i).twist(q_in(j),1.0);
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}else{
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total = T_tmp*chain.getSegment(i).pose(0.0);
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}
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//Changing Refpoint of all columns to new ee
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changeRefPoint(jac,total.p-T_tmp.p,jac);
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//Only increase jointnr if the segment has a joint
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if(chain.getSegment(i).getJoint().getType()!=Joint::None){
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//Only put the twist inside if it is not locked
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if(!locked_joints_[j])
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jac.setColumn(k++,t_tmp);
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j++;
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}
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T_tmp = total;
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}
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return (error = E_NOERROR);
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}
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const char* ChainJntToJacSolver::strError(const int error) const
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{
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if (E_JAC_FAILED == error) return "Jac Failed";
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else return SolverI::strError(error);
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}
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}
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