66 lines
2.6 KiB
C++
66 lines
2.6 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
|
|
|
|
#include "chainiksolverpos_nr.hpp"
|
|
|
|
namespace KDL
|
|
{
|
|
ChainIkSolverPos_NR::ChainIkSolverPos_NR(const Chain& _chain,ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
|
|
unsigned int _maxiter, double _eps):
|
|
chain(_chain),iksolver(_iksolver),fksolver(_fksolver),delta_q(_chain.getNrOfJoints()),
|
|
maxiter(_maxiter),eps(_eps)
|
|
{
|
|
}
|
|
|
|
int ChainIkSolverPos_NR::CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)
|
|
{
|
|
q_out = q_init;
|
|
|
|
unsigned int i;
|
|
for(i=0;i<maxiter;i++){
|
|
fksolver.JntToCart(q_out,f);
|
|
delta_twist = diff(f,p_in);
|
|
const int rc = iksolver.CartToJnt(q_out,delta_twist,delta_q);
|
|
if (E_NOERROR > rc)
|
|
return (error = E_IKSOLVER_FAILED);
|
|
// we chose to continue if the child solver returned a positive
|
|
// "error", which may simply indicate a degraded solution
|
|
Add(q_out,delta_q,q_out);
|
|
if(Equal(delta_twist,Twist::Zero(),eps))
|
|
// converged, but possibly with a degraded solution
|
|
return (rc > E_NOERROR ? E_DEGRADED : E_NOERROR);
|
|
}
|
|
return (error = E_NO_CONVERGE); // failed to converge
|
|
}
|
|
|
|
ChainIkSolverPos_NR::~ChainIkSolverPos_NR()
|
|
{
|
|
}
|
|
|
|
const char* ChainIkSolverPos_NR::strError(const int error) const
|
|
{
|
|
if (E_IKSOLVER_FAILED == error)
|
|
return "Child IK solver failed";
|
|
else return SolverI::strError(error);
|
|
}
|
|
}
|
|
|