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00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #include "chainiksolverpos_nr.hpp" 00023 00024 namespace KDL 00025 { 00026 ChainIkSolverPos_NR::ChainIkSolverPos_NR(const Chain& _chain,ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver, 00027 unsigned int _maxiter, double _eps): 00028 chain(_chain),fksolver(_fksolver),iksolver(_iksolver),delta_q(_chain.getNrOfJoints()), 00029 maxiter(_maxiter),eps(_eps) 00030 { 00031 } 00032 00033 int ChainIkSolverPos_NR::CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out) 00034 { 00035 q_out = q_init; 00036 00037 unsigned int i; 00038 for(i=0;i<maxiter;i++){ 00039 fksolver.JntToCart(q_out,f); 00040 delta_twist = diff(f,p_in); 00041 iksolver.CartToJnt(q_out,delta_twist,delta_q); 00042 Add(q_out,delta_q,q_out); 00043 if(Equal(delta_twist,Twist::Zero(),eps)) 00044 break; 00045 } 00046 if(i!=maxiter) 00047 return 0; 00048 else 00049 return -3; 00050 } 00051 00052 ChainIkSolverPos_NR::~ChainIkSolverPos_NR() 00053 { 00054 } 00055 00056 } 00057