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/** \file itasc/kdl/chainfksolverpos_recursive.cpp
* \ingroup itasc
*/
// 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()
{
}
}
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