diff options
Diffstat (limited to 'intern/itasc/kdl/chainfksolverpos_recursive.cpp')
-rw-r--r-- | intern/itasc/kdl/chainfksolverpos_recursive.cpp | 61 |
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 index 00000000000..46c29c9c6e0 --- /dev/null +++ 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() + { + } + + +} |