void printKDLchain(std::string s,const KDL::Chain & kdlChain)
{
std::cout << s << std::endl;
for(int p=0; p < (int)kdlChain.getNrOfSegments(); p++)
{
std::cout << "Segment " << p << ":" << std::endl;
KDL::Segment seg = kdlChain.getSegment(p);
KDL::Frame fra = seg.getFrameToTip();
std::cout << seg << std::endl;
std::cout << fra << std::endl;
}
}
int main()
{
KDLCollada kdlCollada;
vector <KDL::Chain> kinematicsModels;
const string filename = "puma.dae"; // loading collada kinematics model and converting it to kdl serial chain
if (!kdlCollada.load(COLLADA_MODELS_PATH + filename, kinematicsModels))
{
cout << "Failed to import " << filename;
return 0;
}
cout << "Imported " << kinematicsModels.size() << " kinematics chains" << endl;
for (unsigned int i = 0; i < kinematicsModels.size(); i++) // parsing output kdl serail chain
{
KDL::Chain chain = kinematicsModels[i];
cout << "Chain " << i << " has " << chain.getNrOfSegments() << " segments" << endl;
for (unsigned int u = 0; u < chain.getNrOfSegments(); u++)
{
KDL::Segment segment = chain.segments[u];
string segmentName = segment.getName();
cout << "Segment " << segmentName << " :" <<endl;
KDL::Frame f_tip = segment.getFrameToTip();
KDL::Vector rotAxis = f_tip.M.GetRot();
double rotAngle = f_tip.M.GetRotAngle(rotAxis);
KDL::Vector trans = f_tip.p;
cout << " frame: rotation " << rotAxis.x() << " " << rotAxis.y() << " " << rotAxis.z() << " " << rotAngle * 180 / M_PI << endl;
cout << " frame: translation " << trans.x() << " " << trans.y() << " " << trans.z() << endl;
KDL::RigidBodyInertia inertia = segment.getInertia();
KDL::Joint joint = segment.getJoint();
string jointName = joint.getName();
string jointType = joint.getTypeName();
KDL::Vector jointAxis = joint.JointAxis();
KDL::Vector jointOrigin = joint.JointOrigin();
cout << " joint name: " << jointName << endl;
cout << " type: " << jointType << endl;
cout << " axis: " << jointAxis.x() << " " <<jointAxis.y() << " " << jointAxis.z() << endl;
cout << " origin: " << jointOrigin.x() << " " << jointOrigin.y() << " " << jointOrigin.z() << endl;
}
}
return 0;
}
static inline std::vector<YAML::Node> get_frame_tip_nodes(const KDL::Segment& seg)
{
std::vector<YAML::Node> frames;
KDL::Frame frame = seg.getFrameToTip() * seg.getJoint().pose(0).Inverse();
// Set xyz
if(!KDL::Equal(frame.p, KDL::Vector::Zero()))
{
YAML::Node xyz_frame;
YAML::Node axis_angle_null;
axis_angle_null["axis-angle"].push_back(get_vector3(1, 0, 0));
axis_angle_null["axis-angle"].push_back(0);
xyz_frame["frame"].push_back(axis_angle_null);
xyz_frame["frame"].push_back(get_vector3(frame.p));
frames.push_back(xyz_frame);
}
// Set rpy
if(!KDL::Equal(frame.M, KDL::Rotation::Identity()))
{
std::vector<double> rpy(3);
frame.M.GetRPY(rpy[0],rpy[1],rpy[2]);
for (std::vector<double>::size_type i = rpy.size() - 1;
i != (std::vector<double>::size_type) -1; i--)
{
if(rpy[i] != 0)
{
YAML::Node rpy_frame;
YAML::Node axis_angle;
KDL::Vector axis;
axis[i] = 1;
axis_angle["axis-angle"].push_back(get_vector3(axis));
axis_angle["axis-angle"].push_back(rpy[i]);
rpy_frame["frame"].push_back(axis_angle);
rpy_frame["frame"].push_back(get_vector3(0, 0, 0));
frames.push_back(rpy_frame);
}
}
}
return frames;
}
bool addBaseTransformation(const KDL::Chain & old_chain, KDL::Chain & new_chain, KDL::Frame H_new_old)
{
new_chain = KDL::Chain();
for(unsigned int i=0; i<old_chain.getNrOfSegments(); i++) {
KDL::Segment segm;
segm = old_chain.getSegment(i);
//if is not the first segment add normally the segment
if( i != 0 ) {
new_chain.addSegment(segm);
} else {
//otherwise modify the segment before adding it
KDL::Segment new_segm;
KDL::Joint new_joint, old_joint;
old_joint = segm.getJoint();
KDL::Joint::JointType new_type;
switch(old_joint.getType()) {
case KDL::Joint::RotAxis:
case KDL::Joint::RotX:
case KDL::Joint::RotY:
case KDL::Joint::RotZ:
new_type = KDL::Joint::RotAxis;
break;
case KDL::Joint::TransAxis:
case KDL::Joint::TransX:
case KDL::Joint::TransY:
case KDL::Joint::TransZ:
new_type = KDL::Joint::TransAxis;
break;
case KDL::Joint::None:
default:
new_type = KDL::Joint::None;
}
//check !
new_joint = KDL::Joint(old_joint.getName(),H_new_old*old_joint.JointOrigin(),H_new_old.M*old_joint.JointAxis(),new_type);
new_segm = KDL::Segment(segm.getName(),new_joint,H_new_old*segm.getFrameToTip(),segm.getInertia());
new_chain.addSegment(new_segm);
}
}
return true;
}
KDL::Frame getH_new_old(KDL::Segment seg)
{
KDL::Joint jnt = seg.getJoint();
KDL::Frame frameToTip = seg.getFrameToTip();
return getH_new_old(jnt,frameToTip);
}