78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
// Copyright (C) 2009 Willow Garage Inc
|
|
|
|
// Version: 1.0
|
|
// Author: Wim Meeussen <meeussen at willowgarage dot com>
|
|
// 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 "robot_state_publisher/treefksolverposfull_recursive.hpp"
|
|
#include <iostream>
|
|
#include <cstdio>
|
|
|
|
using namespace std;
|
|
|
|
namespace KDL {
|
|
|
|
TreeFkSolverPosFull_recursive::TreeFkSolverPosFull_recursive(const Tree& _tree):
|
|
tree(_tree)
|
|
{
|
|
}
|
|
|
|
TreeFkSolverPosFull_recursive::~TreeFkSolverPosFull_recursive()
|
|
{
|
|
}
|
|
|
|
int TreeFkSolverPosFull_recursive::JntToCart(const map<string, double>& q_in, map<string, Frame>& p_out)
|
|
{
|
|
// clear output
|
|
p_out.clear();
|
|
|
|
addFrameToMap(q_in, p_out, Frame::Identity(), tree.getRootSegment());
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
void TreeFkSolverPosFull_recursive::addFrameToMap(const map<string, double>& q_in, map<string, Frame>& p_out,
|
|
const Frame& previous_frame, const SegmentMap::const_iterator this_segment)
|
|
{
|
|
// get pose of this segment
|
|
Frame this_frame = previous_frame;
|
|
double jnt_p = 0;
|
|
if (this_segment->second.segment.getJoint().getType() != Joint::None){
|
|
map<string, double>::const_iterator jnt_pos = q_in.find(this_segment->second.segment.getJoint().getName());
|
|
if (jnt_pos == q_in.end()){
|
|
printf("Warning: TreeFKSolverPosFull Could not find value for joint '%s'. Skipping this tree branch\n", this_segment->first.c_str());
|
|
return;
|
|
}
|
|
jnt_p = jnt_pos->second;
|
|
}
|
|
this_frame = this_frame * this_segment->second.segment.pose(jnt_p);
|
|
if (this_segment->first != tree.getRootSegment()->first)
|
|
p_out.insert(make_pair(this_segment->first, this_frame));
|
|
|
|
// get poses of child segments
|
|
for (vector<SegmentMap::const_iterator>::const_iterator child=this_segment->second.children.begin(); child !=this_segment->second.children.end(); child++)
|
|
addFrameToMap(q_in, p_out, this_frame, *child);
|
|
|
|
}
|
|
|
|
|
|
}
|