File size: 2,680 Bytes
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// 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 "chainiksolverpos_nr.hpp"
namespace KDL
{
ChainIkSolverPos_NR::ChainIkSolverPos_NR(const Chain& _chain,ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
unsigned int _maxiter, double _eps):
chain(_chain),iksolver(_iksolver),fksolver(_fksolver),delta_q(_chain.getNrOfJoints()),
maxiter(_maxiter),eps(_eps)
{
}
int ChainIkSolverPos_NR::CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)
{
q_out = q_init;
unsigned int i;
for(i=0;i<maxiter;i++){
fksolver.JntToCart(q_out,f);
delta_twist = diff(f,p_in);
const int rc = iksolver.CartToJnt(q_out,delta_twist,delta_q);
if (E_NOERROR > rc)
return (error = E_IKSOLVER_FAILED);
// we chose to continue if the child solver returned a positive
// "error", which may simply indicate a degraded solution
Add(q_out,delta_q,q_out);
if(Equal(delta_twist,Twist::Zero(),eps))
// converged, but possibly with a degraded solution
return (rc > E_NOERROR ? E_DEGRADED : E_NOERROR);
}
return (error = E_NO_CONVERGE); // failed to converge
}
ChainIkSolverPos_NR::~ChainIkSolverPos_NR()
{
}
const char* ChainIkSolverPos_NR::strError(const int error) const
{
if (E_IKSOLVER_FAILED == error)
return "Child IK solver failed";
else return SolverI::strError(error);
}
}
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