| // SPDX-License-Identifier: LGPL-2.1-or-later | |
| // Copyright (C) 2007 Francois Cauwe <francois at cauwe dot org> | |
| // 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 | |
| namespace KDL | |
| { | |
| ChainFkSolverVel_recursive::ChainFkSolverVel_recursive(const Chain& _chain): | |
| chain(_chain) | |
| { | |
| } | |
| ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive() | |
| { | |
| } | |
| int ChainFkSolverVel_recursive::JntToCart(const JntArrayVel& in,FrameVel& out,int seg_nr) | |
| { | |
| unsigned int segmentNr; | |
| if(seg_nr<0) | |
| segmentNr=chain.getNrOfSegments(); | |
| else | |
| segmentNr = seg_nr; | |
| out=FrameVel::Identity(); | |
| if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints())) | |
| return -1; | |
| else if(segmentNr>chain.getNrOfSegments()) | |
| return -1; | |
| else{ | |
| int j=0; | |
| for (unsigned int i=0;i<segmentNr;i++) { | |
| //Calculate new Frame_base_ee | |
| if(chain.getSegment(i).getJoint().getType()!=Joint::None){ | |
| out=out*FrameVel(chain.getSegment(i).pose(in.q(j)), | |
| chain.getSegment(i).twist(in.q(j),in.qdot(j))); | |
| j++;//Only increase jointnr if the segment has a joint | |
| }else{ | |
| out=out*FrameVel(chain.getSegment(i).pose(0.0), | |
| chain.getSegment(i).twist(0.0,0.0)); | |
| } | |
| } | |
| return 0; | |
| } | |
| } | |
| } | |