treefksolverposfull_recursive.cpp

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// Copyright  (C)  2009 Willow Garage Inc

// Version: 1.0
// Author: Wim Meeussen <meeussen at willowgarage dot com>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA


#include <iostream>
#include <cstdio>

#include <ros/ros.h>

#include "robot_state_publisher/treefksolverposfull_recursive.hpp"

using namespace std;

namespace KDL {

TreeFkSolverPosFull_recursive::TreeFkSolverPosFull_recursive(const Tree& _tree):
  tree(_tree)
{
}

TreeFkSolverPosFull_recursive::~TreeFkSolverPosFull_recursive()
{
}


int TreeFkSolverPosFull_recursive::JntToCart(const map<string, double>& q_in, map<string, tf2::Stamped<Frame> >& p_out, bool flatten_tree)
{
  // clear output
  p_out.clear();

  addFrameToMap(q_in, p_out, tf2::Stamped<KDL::Frame>(KDL::Frame::Identity(), ros::Time(),
                                                      GetTreeElementSegment(tree.getRootSegment()->second).getName()),
                tree.getRootSegment(), flatten_tree);

  return 0;
}


void TreeFkSolverPosFull_recursive::addFrameToMap(const map<string, double>& q_in,
                                                  map<string, tf2::Stamped<Frame> >& p_out,
                                                  const tf2::Stamped<KDL::Frame>& previous_frame,
                                                  const SegmentMap::const_iterator this_segment,
                                                  bool flatten_tree)
{
  // get pose of this segment
  tf2::Stamped<KDL::Frame> this_frame;
  double jnt_p = 0;
  if (GetTreeElementSegment(this_segment->second).getJoint().getType() != Joint::None) {
    map<string, double>::const_iterator jnt_pos = q_in.find(GetTreeElementSegment(this_segment->second).getJoint().getName());
    if (jnt_pos == q_in.end()) {
      ROS_DEBUG("Warning: TreeFKSolverPosFull Could not find value for joint '%s'. Skipping this tree branch", this_segment->first.c_str());
      return;
    }
    jnt_p = jnt_pos->second;
  }
  this_frame = tf2::Stamped<KDL::Frame>(previous_frame * GetTreeElementSegment(this_segment->second).pose(jnt_p), ros::Time(), previous_frame.frame_id_);

  if (this_segment->first != tree.getRootSegment()->first) {
    p_out.insert(make_pair(this_segment->first, tf2::Stamped<KDL::Frame>(this_frame, ros::Time(), previous_frame.frame_id_)));
  }

  // get poses of child segments
  for (vector<SegmentMap::const_iterator>::const_iterator child = GetTreeElementChildren(this_segment->second).begin();
       child != GetTreeElementChildren(this_segment->second).end(); child++) {
    if (flatten_tree) {
      addFrameToMap(q_in, p_out, this_frame, *child, flatten_tree);
    }
    else {
      addFrameToMap(q_in, p_out, tf2::Stamped<KDL::Frame>(KDL::Frame::Identity(), ros::Time(), this_segment->first), *child, flatten_tree);
    }
  }
}

}