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- /** \file itasc/kdl/treefksolverpos_recursive.cpp
- * \ingroup itasc
- */
- // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
- // Copyright (C) 2008 Julia Jesse
- // Version: 1.0
- // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
- // 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 "treefksolverpos_recursive.hpp"
- #include <iostream>
- namespace KDL {
- TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree):
- tree(_tree)
- {
- }
- int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)
- {
- SegmentMap::value_type const* it = tree.getSegmentPtr(segmentName);
- SegmentMap::value_type const* baseit = tree.getSegmentPtr(baseName);
-
- if(q_in.rows() != tree.getNrOfJoints())
- return -1;
- else if(!it) //if the segment name is not found
- return -2;
- else if(!baseit) //if the base segment name is not found
- return -3;
- else{
- p_out = recursiveFk(q_in, it, baseit);
- return 0;
- }
- }
- Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, SegmentMap::value_type const* it, SegmentMap::value_type const* baseit)
- {
- //gets the frame for the current element (segment)
- const TreeElement& currentElement = it->second;
-
- if(it == baseit){
- return KDL::Frame::Identity();
- }
- else{
- Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr));
- return recursiveFk(q_in, currentElement.parent, baseit) * currentFrame;
- }
- }
- TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive()
- {
- }
- }
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