chainjnttojacsolver.cpp
Go to the documentation of this file.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 "chainjnttojacsolver.hpp" 00023 00024 namespace KDL 00025 { 00026 ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain): 00027 chain(_chain),locked_joints_(chain.getNrOfJoints(),false), 00028 nr_of_unlocked_joints_(chain.getNrOfJoints()) 00029 { 00030 } 00031 00032 ChainJntToJacSolver::~ChainJntToJacSolver() 00033 { 00034 } 00035 00036 int ChainJntToJacSolver::setLockedJoints(const std::vector<bool> locked_joints) 00037 { 00038 if(locked_joints.size()!=locked_joints_.size()) 00039 return -1; 00040 locked_joints_=locked_joints; 00041 nr_of_unlocked_joints_=0; 00042 for(unsigned int i=0;i<locked_joints_.size();i++){ 00043 if(!locked_joints_[i]) 00044 nr_of_unlocked_joints_++; 00045 } 00046 } 00047 00048 int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac) 00049 { 00050 if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns()) 00051 return -1; 00052 T_tmp = Frame::Identity(); 00053 SetToZero(t_tmp); 00054 int j=0; 00055 int k=0; 00056 Frame total; 00057 for (unsigned int i=0;i<chain.getNrOfSegments();i++) { 00058 //Calculate new Frame_base_ee 00059 if(chain.getSegment(i).getJoint().getType()!=Joint::None){ 00060 //pose of the new end-point expressed in the base 00061 total = T_tmp*chain.getSegment(i).pose(q_in(j)); 00062 //changing base of new segment's twist to base frame if it is not locked 00063 //t_tmp = T_tmp.M*chain.getSegment(i).twist(1.0); 00064 if(!locked_joints_[j]) 00065 t_tmp = T_tmp.M*chain.getSegment(i).twist(q_in(j),1.0); 00066 }else{ 00067 total = T_tmp*chain.getSegment(i).pose(0.0); 00068 00069 } 00070 00071 //Changing Refpoint of all columns to new ee 00072 changeRefPoint(jac,total.p-T_tmp.p,jac); 00073 00074 //Only increase jointnr if the segment has a joint 00075 if(chain.getSegment(i).getJoint().getType()!=Joint::None){ 00076 //Only put the twist inside if it is not locked 00077 if(!locked_joints_[j]) 00078 jac.setColumn(k++,t_tmp); 00079 j++; 00080 } 00081 00082 T_tmp = total; 00083 } 00084 return 0; 00085 } 00086 } 00087