collision_proximity_planner: treefksolverjointposaxis

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00034 
00037 #ifndef KDLTREEFKSOLVERJOINTPOSAXIS_PARTIAL_HPP
00038 #define KDLTREEFKSOLVERJOINTPOSAXIS_PARTIAL_HPP
00039 
00040 #include <kdl/tree.hpp>
00041 #include <kdl/jntarray.hpp>
00042 #include <vector>
00043 
00044 namespace KDL {
00045 
00050 class TreeFkSolverJointPosAxisPartial
00051 
00052 {
00053 public:
00054   TreeFkSolverJointPosAxisPartial(const Tree& tree, const std::string& reference_frame, const std::vector<bool>& active_joints);
00055   ~TreeFkSolverJointPosAxisPartial();
00056 
00057   int JntToCartFull(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames);
00058   int JntToCartPartial(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames) const;
00059 
00060   const std::vector<std::string> getSegmentNames() const;
00061   const std::map<std::string, int> getSegmentNameToIndex() const;
00062 
00063   int segmentNameToIndex(std::string name) const;
00064 
00065 private:
00066   int treeRecursiveFK(const JntArray& q_in, std::vector<Vector>& joint_pos, std::vector<Vector>& joint_axis, std::vector<Frame>& segment_frames,
00067       const Frame& previous_frame, const SegmentMap::const_iterator this_segment, int segment_nr, int parent_segment_nr, bool active);
00068 
00069   std::vector<std::string> segment_names_;
00070   std::map<std::string, int> segment_name_to_index_;
00071   Tree tree_;
00072   std::string reference_frame_;
00073   int reference_frame_index_;
00074   int num_joints_;
00075   int num_segments_;
00076 
00077   std::vector<Frame> segment_frames_;           
00078   std::vector<int> segment_evaluation_order_;   
00079   std::vector<int> segment_parent_frame_nr_;            
00080   std::vector<const TreeElement*> segment_parent_;            
00081   std::vector<int> joint_parent_frame_nr_;            
00082   std::vector<const TreeElement*> joint_parent_;            
00083   std::vector<bool> active_joints_;             
00084   std::vector<bool> joint_calc_pos_axis_;       
00086   void assignSegmentNumber(const SegmentMap::const_iterator this_segment);
00087 
00088 };
00089 
00090 } // namespace KDL
00091 
00092 #endif