86 lines
3.5 KiB
C++
86 lines
3.5 KiB
C++
// Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// Copyright (C) 2008 Mikael Mayer
|
|
// Copyright (C) 2008 Julia Jesse
|
|
|
|
// 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 "treeiksolverpos_nr_jl.hpp"
|
|
|
|
namespace KDL {
|
|
TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL(const Tree& _tree,
|
|
const std::vector<std::string>& _endpoints,
|
|
const JntArray& _q_min, const JntArray& _q_max,
|
|
TreeFkSolverPos& _fksolver, TreeIkSolverVel& _iksolver,
|
|
unsigned int _maxiter, double _eps) :
|
|
tree(_tree), q_min(_q_min), q_max(_q_max), iksolver(_iksolver),
|
|
fksolver(_fksolver), delta_q(tree.getNrOfJoints()),
|
|
endpoints(_endpoints), maxiter(_maxiter), eps(_eps)
|
|
{
|
|
for (size_t i = 0; i < endpoints.size(); i++) {
|
|
frames.insert(Frames::value_type(endpoints[i], Frame::Identity()));
|
|
delta_twists.insert(Twists::value_type(endpoints[i], Twist::Zero()));
|
|
}
|
|
}
|
|
|
|
double TreeIkSolverPos_NR_JL::CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out) {
|
|
q_out = q_init;
|
|
|
|
//First check if all elements in p_in are available:
|
|
for(Frames::const_iterator f_des_it=p_in.begin();f_des_it!=p_in.end();++f_des_it)
|
|
if(frames.find(f_des_it->first)==frames.end())
|
|
return -2;
|
|
|
|
unsigned int k=0;
|
|
while(++k <= maxiter) {
|
|
for (Frames::const_iterator f_des_it=p_in.begin();f_des_it!=p_in.end();++f_des_it){
|
|
//Get all iterators for this endpoint
|
|
Frames::iterator f_it = frames.find(f_des_it->first);
|
|
Twists::iterator delta_twist = delta_twists.find(f_des_it->first);
|
|
|
|
fksolver.JntToCart(q_out, f_it->second, f_it->first);
|
|
delta_twist->second = diff(f_it->second, f_des_it->second);
|
|
}
|
|
double res = iksolver.CartToJnt(q_out, delta_twists, delta_q);
|
|
if (res < eps)
|
|
return res;
|
|
|
|
Add(q_out, delta_q, q_out);
|
|
|
|
for (unsigned int j = 0; j < q_min.rows(); j++) {
|
|
if (q_out(j) < q_min(j))
|
|
q_out( j) = q_min(j);
|
|
else if (q_out(j) > q_max(j))
|
|
q_out( j) = q_max(j);
|
|
}
|
|
}
|
|
if (k <= maxiter)
|
|
return 0;
|
|
else
|
|
return -3;
|
|
}
|
|
|
|
|
|
TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL() {
|
|
|
|
}
|
|
|
|
}//namespace
|
|
|