WholeBodyCalc.h
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00001 /*
00002  * Copyright (c) 2012, General Motors.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Darren Earl, Stephen Hart
00032  */
00033 
00034 #pragma once
00035 
00037 class WholeBodyCalc{
00038         Eigen::MatrixXd Jsum;
00039         Eigen::MatrixXd I;
00040         Eigen::MatrixXd N;
00041         KDL::JntArray result;
00042         
00043         int tree_size;
00044         
00045         public:
00046         WholeBodyCalc():tree_size(0){}
00047         WholeBodyCalc(const KDL::Tree& tree){
00048                 tree_size = tree.getNrOfJoints();
00049                 Jsum.resize( tree_size, tree_size );
00050                 Jsum = Eigen::MatrixXd::Zero(tree_size, tree_size );
00051                 I.resize( tree_size, tree_size );
00052                 I.setIdentity();
00053                 N.resize( tree_size, tree_size );
00054                 N.setIdentity();
00055                 result.resize( tree_size );
00056         }
00057         
00058         void reset(){
00059                 N.setIdentity();
00060                 Jsum = Eigen::MatrixXd::Zero(tree_size, tree_size );
00061         }
00062         
00064         const KDL::JntArray& project( const KDL::JntArray& torques, const TreeChain& tc ){
00065                 result.data = N * torques.data;
00066                 Eigen::MatrixXd JN = tc.getJ().data*N;
00067                 Eigen::MatrixXd JNinv = calcPinv(JN);
00068                 Jsum += JNinv * JN;
00069                 N = I - Jsum.transpose();  // Jsum.transpose()?...Jsum should be symmetrical, maybe
00070                 
00071                 return result;
00072         }
00074         const KDL::JntArray& project( const KDL::JntArray& torques ){
00075                 result.data = N * torques.data;
00076                 return result;
00077         }
00078         Eigen::MatrixXd calcPinv( const Eigen::MatrixXd& in );
00079         
00080 };
00081 


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44