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/** \file itasc/kdl/treefksolverpos_recursive.cpp
* \ingroup itasc
*/
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright (C) 2008 Julia Jesse
// 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 "treefksolverpos_recursive.hpp"
#include <iostream>
namespace KDL {
TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree):
tree(_tree)
{
}
int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)
{
SegmentMap::value_type const* it = tree.getSegmentPtr(segmentName);
SegmentMap::value_type const* baseit = tree.getSegmentPtr(baseName);
if(q_in.rows() != tree.getNrOfJoints())
return -1;
else if(!it) //if the segment name is not found
return -2;
else if(!baseit) //if the base segment name is not found
return -3;
else{
p_out = recursiveFk(q_in, it, baseit);
return 0;
}
}
Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, SegmentMap::value_type const* it, SegmentMap::value_type const* baseit)
{
//gets the frame for the current element (segment)
const TreeElement& currentElement = it->second;
if(it == baseit){
return KDL::Frame::Identity();
}
else{
Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr));
return recursiveFk(q_in, currentElement.parent, baseit) * currentFrame;
}
}
TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive()
{
}
}
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