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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 "chainjnttojacsolver.hpp"
namespace KDL
{
ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain):
chain(_chain),locked_joints_(chain.getNrOfJoints(),false),
nr_of_unlocked_joints_(chain.getNrOfJoints())
{
}
ChainJntToJacSolver::~ChainJntToJacSolver()
{
}
int ChainJntToJacSolver::setLockedJoints(const std::vector<bool> locked_joints)
{
if(locked_joints.size()!=locked_joints_.size())
return -1;
locked_joints_=locked_joints;
nr_of_unlocked_joints_=0;
for(unsigned int i=0;i<locked_joints_.size();i++){
if(!locked_joints_[i])
nr_of_unlocked_joints_++;
}
return 0;
}
int ChainJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac, int seg_nr)
{
unsigned int segmentNr;
if(seg_nr<0)
segmentNr=chain.getNrOfSegments();
else
segmentNr = seg_nr;
//Initialize Jacobian to zero since only segmentNr columns are computed
SetToZero(jac) ;
if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns())
return (error = E_JAC_FAILED);
else if(segmentNr>chain.getNrOfSegments())
return (error = E_JAC_FAILED);
T_tmp = Frame::Identity();
SetToZero(t_tmp);
int j=0;
int k=0;
Frame total;
for (unsigned int i=0;i<segmentNr;i++) {
//Calculate new Frame_base_ee
if(chain.getSegment(i).getJoint().getType()!=Joint::None){
//pose of the new end-point expressed in the base
total = T_tmp*chain.getSegment(i).pose(q_in(j));
//changing base of new segment's twist to base frame if it is not locked
//t_tmp = T_tmp.M*chain.getSegment(i).twist(1.0);
if(!locked_joints_[j])
t_tmp = T_tmp.M*chain.getSegment(i).twist(q_in(j),1.0);
}else{
total = T_tmp*chain.getSegment(i).pose(0.0);
}
//Changing Refpoint of all columns to new ee
changeRefPoint(jac,total.p-T_tmp.p,jac);
//Only increase jointnr if the segment has a joint
if(chain.getSegment(i).getJoint().getType()!=Joint::None){
//Only put the twist inside if it is not locked
if(!locked_joints_[j])
jac.setColumn(k++,t_tmp);
j++;
}
T_tmp = total;
}
return (error = E_NOERROR);
}
const char* ChainJntToJacSolver::strError(const int error) const
{
if (E_JAC_FAILED == error)
return "Jac Failed";
else return SolverI::strError(error);
}
}
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