1 files changed, 61 insertions, 0 deletions
diff --git a/intern/itasc/kdl/chainfksolverpos_recursive.cpp b/intern/itasc/kdl/chainfksolverpos_recursive.cpp
new file mode 100644
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+++ b/intern/itasc/kdl/chainfksolverpos_recursive.cpp
@@ -0,0 +1,61 @@
+// Copyright  (C)  2007  Francois Cauwe <francois at cauwe dot org>
+// 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 "chainfksolverpos_recursive.hpp"
+#include <iostream>
+
+namespace KDL {
+
+    ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(const Chain& _chain):
+        chain(_chain)
+    {
+    }
+
+    int ChainFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr)
+    {
+		unsigned int segNr = (unsigned int)segmentNr;
+        if(segmentNr<0)
+             segNr=chain.getNrOfSegments();
+
+        p_out = Frame::Identity();
+
+        if(q_in.rows()!=chain.getNrOfJoints())
+            return -1;
+        else if(segNr>chain.getNrOfSegments())
+            return -1;
+        else{
+            int j=0;
+            for(unsigned int i=0;i<segNr;i++){
+                p_out = p_out*chain.getSegment(i).pose(((JntArray&)q_in)(j));
+				j+=chain.getSegment(i).getJoint().getNDof();
+            }
+            return 0;
+        }
+    }
+
+
+    ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive()
+    {
+    }
+
+
+}