treefksolverpos_recursive.cpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008 Julia Jesse
 
// 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 "treefksolverpos_recursive.hpp"
#include <iostream>
 
namespace KDL {
 
    TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree):
        tree(_tree)
    {
    }
 
    int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)
    {      
        SegmentMap::const_iterator it = tree.getSegment(segmentName); 
       
        
        if(q_in.rows() != tree.getNrOfJoints())
                return -1;
        else if(it == tree.getSegments().end()) //if the segment name is not found
            return -2;
        else{
            p_out = recursiveFk(q_in, it);
            return 0;           
        }
    }
 
    Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it)
    {
        //gets the frame for the current element (segment)
        const TreeElementType& currentElement = it->second;
        Frame currentFrame = GetTreeElementSegment(currentElement).pose(q_in(GetTreeElementQNr(currentElement)));
 
        SegmentMap::const_iterator rootIterator = tree.getRootSegment();
        if(it == rootIterator){
            return currentFrame;    
        }
        else{
            SegmentMap::const_iterator parentIt = GetTreeElementParent(currentElement);
            return recursiveFk(q_in, parentIt) * currentFrame;
        }
    }
 
    TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive()
    {
    }
 
 
}