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Diffstat (limited to 'intern/itasc/kdl/chainjnttojacsolver.cpp')
| -rw-r--r-- | intern/itasc/kdl/chainjnttojacsolver.cpp | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/intern/itasc/kdl/chainjnttojacsolver.cpp b/intern/itasc/kdl/chainjnttojacsolver.cpp new file mode 100644 index 00000000000..4a801c041f3 --- /dev/null +++ b/intern/itasc/kdl/chainjnttojacsolver.cpp @@ -0,0 +1,80 @@ +// 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 "chainjnttojacsolver.hpp" + +namespace KDL +{ + ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain): + chain(_chain) + { + } + + ChainJntToJacSolver::~ChainJntToJacSolver() + { + } + + int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac) + { + assert(q_in.rows()==chain.getNrOfJoints()&& + q_in.rows()==jac.columns()); + + + Frame T_local, T_joint; + T_total = Frame::Identity(); + SetToZero(t_local); + + int i=chain.getNrOfSegments()-1; + unsigned int q_nr = chain.getNrOfJoints(); + + //Lets recursively iterate until we are in the root segment + while (i >= 0) { + const Segment& segment = chain.getSegment(i); + int ndof = segment.getJoint().getNDof(); + q_nr -= ndof; + + //get the pose of the joint. + T_joint = segment.getJoint().pose(((JntArray&)q_in)(q_nr)); + // combine with the tip to have the tip pose + T_local = T_joint*segment.getFrameToTip(); + //calculate new T_end: + T_total = T_local * T_total; + + for (int dof=0; dof<ndof; dof++) { + // combine joint rotation with tip position to get a reference frame for the joint + T_joint.p = T_local.p; + // in which the twist can be computed (needed for NDof joint) + t_local = segment.twist(T_joint, 1.0, dof); + //transform the endpoint of the local twist to the global endpoint: + t_local = t_local.RefPoint(T_total.p - T_local.p); + //transform the base of the twist to the endpoint + t_local = T_total.M.Inverse(t_local); + //store the twist in the jacobian: + jac.twists[q_nr+dof] = t_local; + } + i--; + }//endwhile + //Change the base of the complete jacobian from the endpoint to the base + changeBase(jac, T_total.M, jac); + return 0; + } +} + |