collision_proximity_planner: collision_proximity_planner: treefksolverjointposaxis.hpp Source File

00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00037 #ifndef KDLTREEFKSOLVERJOINTPOSAXIS_HPP
00038 #define KDLTREEFKSOLVERJOINTPOSAXIS_HPP
00039 
00040 #include <kdl/tree.hpp>
00041 #include <kdl/jntarray.hpp>
00042 #include <vector>
00043 
00044 namespace KDL {
00045 
00046 class TreeFkSolverJointPosAxis
00047 
00048 {
00049 public:
00050   TreeFkSolverJointPosAxis(const Tree& tree, const std::string& reference_frame);
00051   ~TreeFkSolverJointPosAxis();
00052 
00053   int JntToCart(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames) const;
00054 
00055   const std::vector<std::string> getSegmentNames() const;
00056   const std::map<std::string, int> getSegmentNameToIndex() const;
00057 
00058   int segmentNameToIndex(std::string name) const;
00059 
00060 private:
00061   int treeRecursiveFK(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames,
00062       const Frame& previous_frame, const SegmentMap::const_iterator this_segment, int segment_nr) const;
00063 
00064   std::vector<std::string> segment_names_;
00065   std::map<std::string, int> segment_name_to_index_;
00066   Tree tree_;
00067   std::string reference_frame_;
00068   int reference_frame_index_;
00069   int num_joints_;
00070   int num_segments_;
00071 
00072   void assignSegmentNumber(const SegmentMap::const_iterator this_segment);
00073 
00074 };
00075 
00076 } // namespace KDL
00077 
00078 #endif