chainfksolverpos_recursive.cpp
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00001 // Copyright  (C)  2007  Francois Cauwe <francois at cauwe dot org>
00002 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00003 
00004 // Version: 1.0
00005 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00007 // URL: http://www.orocos.org/kdl
00008 
00009 // This library is free software; you can redistribute it and/or
00010 // modify it under the terms of the GNU Lesser General Public
00011 // License as published by the Free Software Foundation; either
00012 // version 2.1 of the License, or (at your option) any later version.
00013 
00014 // This library is distributed in the hope that it will be useful,
00015 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00017 // Lesser General Public License for more details.
00018 
00019 // You should have received a copy of the GNU Lesser General Public
00020 // License along with this library; if not, write to the Free Software
00021 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00022 
00023 #include "chainfksolverpos_recursive.hpp"
00024 #include <iostream>
00025 
00026 namespace KDL {
00027 
00028     ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(const Chain& _chain):
00029         chain(_chain)
00030     {
00031     }
00032 
00033     int ChainFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr)
00034     {
00035         if(segmentNr<0)
00036              segmentNr=chain.getNrOfSegments();
00037 
00038         p_out = Frame::Identity();
00039 
00040         if(q_in.rows()!=chain.getNrOfJoints())
00041             return -1;
00042         else if(segmentNr>chain.getNrOfSegments())
00043             return -1;
00044         else{
00045             int j=0;
00046             for(unsigned int i=0;i<segmentNr;i++){
00047                 if(chain.getSegment(i).getJoint().getType()!=Joint::None){
00048                     p_out = p_out*chain.getSegment(i).pose(q_in(j));
00049                     j++;
00050                 }else{
00051                     p_out = p_out*chain.getSegment(i).pose(0.0);
00052                 }
00053             }
00054             return 0;
00055         }
00056     }
00057 
00058 
00059     ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive()
00060     {
00061     }
00062 
00063 
00064 }


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:25