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/** \file itasc/kdl/joint.cpp
* \ingroup intern_itasc
*/
// 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 "joint.hpp"
namespace KDL {
Joint::Joint(const JointType& _type, const double& _scale, const double& _offset,
const double& _inertia, const double& _damping, const double& _stiffness):
type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
{
// for sphere and swing, offset is not used, assume no offset
}
Joint::Joint(const Joint& in):
type(in.type),scale(in.scale),offset(in.offset),
inertia(in.inertia),damping(in.damping),stiffness(in.stiffness)
{
}
Joint& Joint::operator=(const Joint& in)
{
type=in.type;
scale=in.scale;
offset=in.offset;
inertia=in.inertia;
damping=in.damping;
stiffness=in.stiffness;
return *this;
}
Joint::~Joint()
{
}
Frame Joint::pose(const double* q)const
{
switch(type){
case RotX:
assert(q);
return Frame(Rotation::RotX(scale*q[0]+offset));
break;
case RotY:
assert(q);
return Frame(Rotation::RotY(scale*q[0]+offset));
break;
case RotZ:
assert(q);
return Frame(Rotation::RotZ(scale*q[0]+offset));
break;
case TransX:
assert(q);
return Frame(Vector(scale*q[0]+offset,0.0,0.0));
break;
case TransY:
assert(q);
return Frame(Vector(0.0,scale*q[0]+offset,0.0));
break;
case TransZ:
assert(q);
return Frame(Vector(0.0,0.0,scale*q[0]+offset));
break;
case Sphere:
// the joint angles represent a rotation vector expressed in the base frame of the joint
// (= the frame you get when there is no offset nor rotation)
assert(q);
return Frame(Rot(Vector(q[0], q[1], q[2])));
break;
case Swing:
// the joint angles represent a 2D rotation vector in the XZ planee of the base frame of the joint
// (= the frame you get when there is no offset nor rotation)
assert(q);
return Frame(Rot(Vector(q[0], 0.0, q[1])));
break;
default:
return Frame::Identity();
break;
}
}
Twist Joint::twist(const double& qdot, int dof)const
{
switch(type){
case RotX:
return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
break;
case RotY:
return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0));
break;
case RotZ:
return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
break;
case TransX:
return Twist(Vector(scale*qdot,0.0,0.0),Vector(0.0,0.0,0.0));
break;
case TransY:
return Twist(Vector(0.0,scale*qdot,0.0),Vector(0.0,0.0,0.0));
break;
case TransZ:
return Twist(Vector(0.0,0.0,scale*qdot),Vector(0.0,0.0,0.0));
break;
case Swing:
switch (dof) {
case 0:
return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
case 1:
return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
}
return Twist::Zero();
case Sphere:
switch (dof) {
case 0:
return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0));
case 1:
return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0));
case 2:
return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot));
}
return Twist::Zero();
default:
return Twist::Zero();
break;
}
}
unsigned int Joint::getNDof() const
{
switch (type) {
case Sphere:
return 3;
case Swing:
return 2;
case None:
return 0;
default:
return 1;
}
}
} // end of namespace KDL
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