00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00038 #ifndef CHOMP_UTILS_H_ 00039 #define CHOMP_UTILS_H_ 00040 00041 #include <kdl/jntarray.hpp> 00042 #include <chomp_motion_planner/chomp_robot_model.h> 00043 #include <iostream> 00044 #include <Eigen/Core> 00045 00046 namespace chomp 00047 { 00048 00049 static const int DIFF_RULE_LENGTH = 7; 00050 00051 // the differentiation rules (centered at the center) 00052 static const double DIFF_RULES[3][DIFF_RULE_LENGTH] = { 00053 {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0}, // velocity 00054 {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0}, // acceleration 00055 {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0} // jerk 00056 }; 00057 00058 inline void debugJointArray(KDL::JntArray& joint_array) 00059 { 00060 for (unsigned int i=0; i<joint_array.rows(); i++) 00061 { 00062 std::cout << joint_array(i) << "\t"; 00063 } 00064 std::cout << std::endl; 00065 } 00066 00067 template<typename KDLType, typename EigenType> 00068 void kdlVecToEigenVec(std::vector<KDLType>& kdl_v, std::vector<Eigen::Map<EigenType> >& eigen_v, int rows, int cols) 00069 { 00070 int size = kdl_v.size(); 00071 eigen_v.clear(); 00072 for (int i=0; i<size; i++) 00073 { 00074 eigen_v.push_back(Eigen::Map<EigenType>(kdl_v[i].data, rows, cols)); 00075 } 00076 } 00077 00078 template<typename KDLType, typename EigenType> 00079 void kdlVecVecToEigenVecVec(std::vector<std::vector<KDLType> >& kdl_vv, std::vector<std::vector<Eigen::Map<EigenType> > > & eigen_vv, int rows, int cols) 00080 { 00081 int size = kdl_vv.size(); 00082 eigen_vv.resize(size); 00083 for (int i=0; i<size; i++) 00084 { 00085 kdlVecToEigenVec(kdl_vv[i], eigen_vv[i], rows, cols); 00086 } 00087 } 00088 00089 00090 } //namespace chomp 00091 00092 #endif /* CHOMP_UTILS_H_ */