treefksolverjointposaxis_partial.hpp

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#ifndef KDLTREEFKSOLVERJOINTPOSAXIS_PARTIAL_HPP
#define KDLTREEFKSOLVERJOINTPOSAXIS_PARTIAL_HPP

#include <kdl/tree.hpp>
#include <kdl/jntarray.hpp>
#include <vector>

namespace KDL {

class TreeFkSolverJointPosAxisPartial

{
public:
  TreeFkSolverJointPosAxisPartial(const Tree& tree, const std::string& reference_frame, const std::vector<bool>& active_joints);
  ~TreeFkSolverJointPosAxisPartial();

  int JntToCartFull(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames);
  int JntToCartPartial(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames) const;

  const std::vector<std::string> getSegmentNames() const;
  const std::map<std::string, int> getSegmentNameToIndex() const;

  int segmentNameToIndex(std::string name) const;

private:
  int treeRecursiveFK(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames,
      const Frame& previous_frame, const SegmentMap::const_iterator this_segment, int segment_nr, int parent_segment_nr, bool active);

  std::vector<std::string> segment_names_;
  std::map<std::string, int> segment_name_to_index_;
  Tree tree_;
  std::string reference_frame_;
  int reference_frame_index_;
  int num_joints_;
  int num_segments_;

  std::vector<Frame> segment_frames_;           
  std::vector<int> segment_evaluation_order_;   
  std::vector<int> segment_parent_frame_nr_;            
  std::vector<const TreeElement*> segment_parent_;            
  std::vector<int> joint_parent_frame_nr_;            
  std::vector<const TreeElement*> joint_parent_;            
  std::vector<bool> active_joints_;             
  std::vector<bool> joint_calc_pos_axis_;       
  void assignSegmentNumber(const SegmentMap::const_iterator this_segment);

};

} // namespace KDL

#endif