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kdl_parser
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merge bugfixes from 1.0 branch r28613:28615

This commit is contained in:
wim 2010-04-07 18:25:47 +00:00
parent 9f3c2565fd
commit 2f37d1c4f0
2 changed files with 14 additions and 46 deletions
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56
kdl_parser/src/check_kdl_parser.cpp
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@ -43,6 +43,15 @@ using namespace KDL;
using namespace std; using namespace std;
using namespace urdf; using namespace urdf;
void printLink(const SegmentMap::const_iterator& link, const std::string& prefix)
{
cout << prefix << "- Segment " << link->second.segment.getName() << " has " << link->second.children.size() << " children" << endl;
for (unsigned int i=0; i<link->second.children.size(); i++)
printLink(link->second.children[i], prefix + " ");
}
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
if (argc < 2){ if (argc < 2){
@ -59,51 +68,10 @@ int main(int argc, char** argv)
// walk through tree // walk through tree
cout << " ======================================" << endl; cout << " ======================================" << endl;
cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << endl;
cout << " ======================================" << endl;
SegmentMap::const_iterator root = my_tree.getRootSegment(); SegmentMap::const_iterator root = my_tree.getRootSegment();
cout << "Found root segment '" << root->second.segment.getName() << "' with " << root->second.children.size() << " children" << endl; printLink(root, "");
for (unsigned int i=0; i<root->second.children.size(); i++){
SegmentMap::const_iterator child = root->second.children[i];
cout << " - child " << i+1 << ": " << child->second.segment.getName() << " has joint " << child->second.segment.getJoint().getName()
<< " and " << child->second.children.size() << " children" << endl;
for (unsigned int j=0; j<child->second.children.size(); j++){
SegmentMap::const_iterator grandchild = child->second.children[j];
cout << " - grandchild " << j+1 << ": " << grandchild->second.segment.getName() << " has joint " << grandchild->second.segment.getJoint().getName()
<< " and " << grandchild->second.children.size() << " children" << endl;
}
} }
// extract chains from tree
Chain chain1, chain2;
my_tree.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1);
my_tree.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2);
cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl;
cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl;
JntArray jnt1(chain1.getNrOfJoints());
JntArray jnt2(chain1.getNrOfJoints());
for (int i=0; i<(int)chain1.getNrOfJoints(); i++){
jnt1(i) = (i+1)*2;
jnt2((int)chain1.getNrOfJoints()-i-1) = -jnt1(i);
}
for (int i=0; i<(int)chain1.getNrOfJoints(); i++)
cout << "jnt 1 -- jnt 2 " << jnt1(i) << " -- " << jnt2(i) << endl;
ChainFkSolverPos_recursive solver1(chain1);
ChainFkSolverPos_recursive solver2(chain2);
Frame f1, f2;
solver1.JntToCart(jnt1, f1);
solver2.JntToCart(jnt2, f2);
cout << "frame 1 " << f1 << endl;
cout << "frame 2 " << f2.Inverse() << endl;
// copy tree
Tree copy = my_tree;
copy.getChain("l_gripper_palm_link", "r_gripper_palm_link", chain1);
copy.getChain("r_gripper_palm_link", "l_gripper_palm_link", chain2);
cout << "Got chain1 with " << chain1.getNrOfJoints() << " joints and " << chain1.getNrOfSegments() << " segments" << endl;
cout << "Got chain2 with " << chain2.getNrOfJoints() << " joints and " << chain2.getNrOfSegments() << " segments" << endl;
}

2
kdl_parser/src/kdl_parser.cpp
View File

@ -106,7 +106,7 @@ RigidBodyInertia toKdl(boost::shared_ptr<urdf::Inertial> i)
bool addChildrenToTree(boost::shared_ptr<const urdf::Link> root, Tree& tree) bool addChildrenToTree(boost::shared_ptr<const urdf::Link> root, Tree& tree)
{ {
std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links; std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links;
ROS_DEBUG("Link %s had %u children", root->name.c_str(), children.size()); ROS_DEBUG("Link %s had %i children", root->name.c_str(), (int)children.size());
// constructs the optional inertia // constructs the optional inertia
RigidBodyInertia inert(0); RigidBodyInertia inert(0);