chainiksolverpos_nr_jl.cpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 // Copyright  (C)  2008  Mikael Mayer
00003 // Copyright  (C)  2008  Julia Jesse
00004 
00005 // Version: 1.0
00006 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00007 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00008 // URL: http://www.orocos.org/kdl
00009 
00010 // This library is free software; you can redistribute it and/or
00011 // modify it under the terms of the GNU Lesser General Public
00012 // License as published by the Free Software Foundation; either
00013 // version 2.1 of the License, or (at your option) any later version.
00014 
00015 // This library is distributed in the hope that it will be useful,
00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018 // Lesser General Public License for more details.
00019 
00020 // You should have received a copy of the GNU Lesser General Public
00021 // License along with this library; if not, write to the Free Software
00022 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00023 
00024 #include "chainiksolverpos_nr_jl.hpp"
00025 
00026 namespace KDL
00027 {
00028     ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(const Chain& _chain, const JntArray& _q_min, const JntArray& _q_max, ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
00029                                              unsigned int _maxiter, double _eps):
00030         chain(_chain), q_min(_q_min), q_max(_q_max), iksolver(_iksolver), fksolver(_fksolver), delta_q(_chain.getNrOfJoints()),
00031         maxiter(_maxiter),eps(_eps)
00032     {
00033 
00034     }
00035 
00036     int ChainIkSolverPos_NR_JL::CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)
00037     {
00038             q_out = q_init;
00039 
00040             unsigned int i;
00041             for(i=0;i<maxiter;i++){
00042                 fksolver.JntToCart(q_out,f);
00043                 delta_twist = diff(f,p_in);
00044 
00045                                 if(Equal(delta_twist,Twist::Zero(),eps))
00046                                         break;
00047 
00048                                 iksolver.CartToJnt(q_out,delta_twist,delta_q);
00049                 Add(q_out,delta_q,q_out);
00050 
00051                 for(unsigned int j=0; j<q_min.rows(); j++) {
00052                   if(q_out(j) < q_min(j))
00053                     q_out(j) = q_min(j);
00054                 }
00055 
00056 
00057                 for(unsigned int j=0; j<q_max.rows(); j++) {
00058                     if(q_out(j) > q_max(j))
00059                       q_out(j) = q_max(j);
00060                 }
00061             }
00062 
00063             if(i!=maxiter)
00064                 return 0;
00065             else
00066                 return -3;
00067     }
00068 
00069     ChainIkSolverPos_NR_JL::~ChainIkSolverPos_NR_JL()
00070     {
00071     }
00072 
00073 }
00074 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14