void RobotAlgos::Test(void)
{
//Definition of a kinematic chain & add segments to the chain
KDL::Chain chain;
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
// Create solver based on kinematic chain
ChainFkSolverPos_recursive fksolver = ChainFkSolverPos_recursive(chain);
// Create joint array
unsigned int nj = chain.getNrOfJoints();
KDL::JntArray jointpositions = JntArray(nj);
// Assign some values to the joint positions
for(unsigned int i=0;i<nj;i++){
float myinput;
printf ("Enter the position of joint %i: ",i);
scanf ("%e",&myinput);
jointpositions(i)=(double)myinput;
}
// Create the frame that will contain the results
KDL::Frame cartpos;
// Calculate forward position kinematics
int kinematics_status;
kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
if(kinematics_status>=0){
std::cout << cartpos <<std::endl;
printf("%s \n","Succes, thanks KDL!");
}else{
printf("%s \n","Error: could not calculate forward kinematics :(");
}
//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain,fksolver1,iksolver1v,100,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
//Creation of jntarrays:
JntArray result(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());
//Set destination frame
Frame F_dest=cartpos;
iksolver1.CartToJnt(q_init,F_dest,result);
for(unsigned int i=0;i<nj;i++){
printf ("Axle %i: %f \n",i,result(i));
}
}
KDL::Chain kukaControl::LWR_knife() {
KDL::Chain chain;
// base
chain.addSegment(
// KDL::Segment(KDL::Joint(KDL::Joint::None),KDL::Frame::DH_Craig1989(0, 0, 0.33989, 0)));
KDL::Segment(KDL::Joint(KDL::Joint::None),
KDL::Frame::DH_Craig1989(0, 0, 0.34, 0)));
// joint 1
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0, 0)));
// joint 2
chain.addSegment(
// KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame::DH_Craig1989(0, M_PI_2, 0.40011, 0)));
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0.40, 0)));
// joint 3
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0, 0)));
// joint 4
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0.4000, 0)));
// joint 5
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0, 0)));
// joint 6
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0, 0)));
// joint 7 (with flange adapter)
/* chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, 0, 0.12597, 0)));*/
// for HSC
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, 0, 0.12597 + 0.41275, 0)));
KDL::Frame ee = KDL::Frame(KDL::Vector(0.0625, -0.0925, -0.07))
* KDL::Frame(
KDL::Rotation::EulerZYX(32.0 * M_PI / 180, 0.0,
54.18 * M_PI / 180));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::None), ee));
return chain;
}
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::Chain kukaControl::LWR_HSC_nozzle_RCM_used() {
KDL::Chain chain;
// base
chain.addSegment(
// KDL::Segment(KDL::Joint(KDL::Joint::None),KDL::Frame::DH_Craig1989(0, 0, 0.33989, 0)));
KDL::Segment(KDL::Joint(KDL::Joint::None),
KDL::Frame::DH_Craig1989(0, 0, 0.34, 0)));
//KDL::Frame::DH_Craig1989(0, M_PI_2, 0.36, 0)));
// joint 1
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0, 0)));
// joint 2
chain.addSegment(
// KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame::DH_Craig1989(0, M_PI_2, 0.40011, 0)));
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0.40, 0)));
//KDL::Frame::DH_Craig1989(0, M_PI_2, 0.42, 0)));
// joint 3
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0, 0)));
// joint 4
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0.4000, 0)));
// joint 5
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, -M_PI_2, 0, 0)));
// joint 6
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, M_PI_2, 0, 0)));
// joint 7 (with flange adapter)
/* chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, 0, 0.12597, 0)));*/
// for HSC
chain.addSegment(
KDL::Segment(KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0, 0,
0.12597 + Dist_from_EndeffectorToRcmPoint, 0)));
return chain;
}
bool kuka_IK::cartPosInputHandle(RTT::base::PortInterface* portInterface){
input_cartPosPort.read(commandedPose);
#if DEBUG
cout << endl << "Pose.position.x = " << commandedPose.position.x << endl;
cout << "Pose.position.y = " << commandedPose.position.y << endl;
cout << "Pose.position.z = " << commandedPose.position.z << endl;
#endif
// Read out the robot joint position
msr_jntPosPort.read(jntPos);
#if DEBUG
std::cout << " kuka-IK-component.cpp: jntPos" << std::endl;
for(int i = 0; i < 7; i++) std::cout << jntPos[i] << " " ;
#endif
//Do IK and reset velocity profiles
commndedPoseJntPos = std::vector<double>(7,0.0);
#if DEBUG
cout << endl << endl;
cout << "Beginning of Super Debugging" << endl;
geometry_msgs::Pose tmpPose;
cartPosPort.read(tmpPose);
Frame tmpFrame;
tf::PoseMsgToKDL(tmpPose, tmpFrame);
cout << "Frame from Robot" << endl << tmpFrame << endl;
//Debugging Iterative IK
KDL::Chain chain = Chain();
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.31))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.19))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.078))));
ChainFkSolverPos_recursive fksolver(chain);
// Create joint array
unsigned int nj = chain.getNrOfJoints();
KDL::JntArray jointpositions = JntArray(nj);
// Assign some values to the joint positions
std::cout << "jntPos: ";
for(unsigned int i=0;i<nj;i++){
jointpositions(i)=jntPos[i];
std::cout << jntPos[i] << " ";
}
std::cout << std::endl;
// Create the frame that will contain the results
KDL::Frame cartpos;
// Calculate forward position kinematics
bool kinematics_status;
kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
if(kinematics_status>=0){
std::cout << cartpos <<std::endl;
printf("%s \n","Success, thanks KDL!");
}else{
printf("%s \n","Error: could not calculate forward kinematics");
std::cout << cartpos <<std::endl;
}
cout << "End of Super Debugging" << endl << endl;
//End of Super Debugging
#endif
//if (! KukaLWR_Kinematics::ikSolverAnalytical7DOF( commandedPose, commndedPoseJntPos) ){
//if (!(KukaLWR_Kinematics::ikSolver(jntPos, commandedPose, commndedPoseJntPos))){
if (!(KukaLWR_Kinematics::ikSolverIterative7DOF(jntPos, commandedPose, commndedPoseJntPos))){
cout << "lastCommandedPose cannot be achieved" << endl;
for(int i = 0; i < 7; i++) std::cout << commndedPoseJntPos[i] << " " ;
std::cout << std::endl;
}
sensor_msgs::JointState tmpJntState;
tmpJntState.position.clear();
for(int i=0; i < 7; i++){
tmpJntState.position.push_back(commndedPoseJntPos[i]);
tmpJntState.velocity.push_back(0.0);
}
output_jntPosPort.write(tmpJntState);
return true;
}
bool idynChain2kdlChain(iCub::iDyn::iDynChain & idynChain,KDL::Chain & kdlChain,std::vector<std::string> link_names,std::vector<std::string> joint_names, std::string final_frame_name, std::string initial_frame_name, int max_links)
{
int n_links, i;
bool use_names;
n_links = idynChain.getN();
//In iDyn, the joints are only 1 DOF (not 0, not more)
int n_joints = idynChain.getN();
if(n_links <= 0 ) return false;
if( (int)link_names.size() < n_links || (int)joint_names.size() < n_joints ) {
use_names = false;
} else {
use_names = true;
}
KDL::Frame kdlFrame = KDL::Frame();
KDL::Frame kdl_H = KDL::Frame();
KDL::Joint kdlJoint = KDL::Joint();
kdlChain = KDL::Chain();
KDL::Segment kdlSegment = KDL::Segment();
KDL::RigidBodyInertia kdlRigidBodyInertia = KDL::RigidBodyInertia();
if( initial_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getH0(),kdlFrame);
kdlSegment = KDL::Segment(initial_frame_name,KDL::Joint(initial_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
for(i=0; i<n_links && i < max_links; i++)
{
//forgive him, as he does not know what is doing
iCub::iKin::iKinLink & link_current = idynChain[i];
//For the first link and the last link, take in account also H0 and HN
if ( i == n_links - 1) {
if( final_frame_name.length() == 0 ) {
idynMatrix2kdlFrame(idynChain.getHN(),kdl_H);
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset())*kdl_H;
} else {
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset());
}
} else {
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset());
}
bool ret = idynDynamicalParameters2kdlRigidBodyInertia(idynChain.getMass(i),idynChain.getCOM(i).subcol(0,3,3),idynChain.getInertia(i),kdlRigidBodyInertia);
if( !ret ) return false;
KDL::Joint jnt_idyn;
//\todo: joint can also be blocked at values different from 0.0
if( idynChain.isLinkBlocked(i) ) {
if( use_names ) {
kdlSegment = KDL::Segment(link_names[i],KDL::Joint(joint_names[i],KDL::Joint::None),kdlFrame,kdlRigidBodyInertia);
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::None),kdlFrame,kdlRigidBodyInertia);
}
} else {
if( use_names ) {
kdlSegment = KDL::Segment(link_names[i],KDL::Joint(joint_names[i],KDL::Joint::RotZ),kdlFrame,kdlRigidBodyInertia);
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::RotZ),kdlFrame,kdlRigidBodyInertia);
}
}
kdlChain.addSegment(kdlSegment);
}
//if specified, add a final fake link
if( final_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getHN(),kdlFrame);
kdlSegment = KDL::Segment(final_frame_name,KDL::Joint(final_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
//Considering the H0 transformation
if( initial_frame_name.length() == 0 ) {
KDL::Chain new_chain;
KDL::Frame kdl_H0;
idynMatrix2kdlFrame(idynChain.getH0(),kdl_H0);
//std::cout << "KDL_h0 " << kdl_H0 << std::endl;
addBaseTransformation(kdlChain,new_chain,kdl_H0);
kdlChain = new_chain;
}
return true;
}
bool idynSensorChain2kdlChain(iCub::iDyn::iDynChain & idynChain,
iCub::iDyn::iDynInvSensor & idynSensor,
KDL::Chain & kdlChain,
KDL::Frame & H_sensor_dh_child,
std::vector<std::string> link_names,std::vector<std::string> joint_names, std::string final_frame_name, std::string initial_frame_name, int max_links)
{
bool use_names;
int n_links, i, sensor_link;
n_links = idynChain.getN();
sensor_link = idynSensor.getSensorLink();
int kdl_links = n_links + 1; //The sensor links transform a link in two different links
int kdl_joints = kdl_links;
if(n_links <= 0 ) return false;
if( (int)link_names.size() < kdl_links || (int)joint_names.size() < kdl_joints ) {
use_names = false;
} else {
use_names = true;
}
KDL::Frame kdlFrame = KDL::Frame();
KDL::Frame kdl_H;
kdlChain = KDL::Chain();
KDL::Segment kdlSegment = KDL::Segment();
KDL::RigidBodyInertia kdlRigidBodyInertia = KDL::RigidBodyInertia();
int kdl_i = 0;
if( initial_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getH0(),kdlFrame);
kdlSegment = KDL::Segment(initial_frame_name,KDL::Joint(initial_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
KDL::Frame remainder_frame = KDL::Frame::Identity();
for(i=0; i<n_links; i++)
{
if( i != sensor_link ) {
//forgive him, as he does not know what is doing
iCub::iKin::iKinLink & link_current = idynChain[i];
//For the last link, take in account also HN
if ( i == n_links - 1) {
idynMatrix2kdlFrame(idynChain.getHN(),kdl_H);
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset())*kdl_H;
} else {
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset());
}
bool ret = idynDynamicalParameters2kdlRigidBodyInertia(idynChain.getMass(i),idynChain.getCOM(i).subcol(0,3,3),idynChain.getInertia(i),kdlRigidBodyInertia);
assert(ret);
if(!ret) return false;
//For the joint after the ft sensor, consider the offset between the ft sensor
// and the joint
if( idynChain.isLinkBlocked(i) ) {
// if it is blocked, it is easy to add the remainder frame
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::None),remainder_frame*kdlFrame,kdlRigidBodyInertia);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::None),remainder_frame*kdlFrame,kdlRigidBodyInertia);
}
} else {
KDL::Vector new_joint_axis, new_joint_origin;
new_joint_axis = remainder_frame.M*KDL::Vector(0.0,0.0,0.1);
new_joint_origin = remainder_frame.p;
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],new_joint_origin,new_joint_axis,KDL::Joint::RotAxis),remainder_frame*kdlFrame,kdlRigidBodyInertia);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(new_joint_origin,new_joint_axis,KDL::Joint::RotAxis),remainder_frame*kdlFrame,kdlRigidBodyInertia);
}
}
kdlChain.addSegment(kdlSegment);
remainder_frame = KDL::Frame::Identity();
} else {
//( i == segment_link )
double m,m0,m1;
yarp::sig::Vector r0(3),r1(3),r(3),rgg0(3),rgg1(3),r_i_s_wrt_i(3),r_i_C0_wrt_i;
yarp::sig::Matrix I,I0,I1;
yarp::sig::Matrix R_s_wrt_i;
iCub::iKin::iKinLink & link_current = idynChain[sensor_link];
KDL::Frame kdlFrame_0 = KDL::Frame();
KDL::Frame kdlFrame_1 = KDL::Frame();
//Imagine that we have i, s , i+1
//yarp::sig::Matrix H_0;
//The angle of the sensor link joint is put to 0 and then restored
double angSensorLink = link_current.getAng();
yarp::sig::Matrix H_sensor_link = (link_current.getH(0.0)); //H_{i-1}_i
link_current.setAng(angSensorLink);
//idynSensor.getH() <--> H_i_s
yarp::sig::Matrix H_0 = H_sensor_link * (idynSensor.getH()); // H_{i-1}_s = H_{i-1}_i*H_i_s ?
yarp::sig::Matrix H_1 = localSE3inv(idynSensor.getH()); //H_s_{i}
//std::cout << "H_0" << std::endl << H_0.toString() << std::endl;
//std::cout << "H_1" << std::endl << H_1.toString() << std::endl;
idynMatrix2kdlFrame(H_0,kdlFrame_0);
idynMatrix2kdlFrame(H_1,kdlFrame_1);
remainder_frame = kdlFrame_1;
H_sensor_dh_child = remainder_frame;
kdlFrame_1 = KDL::Frame::Identity();
//cout << "kdlFrame_0: " << endl;
//cout << kdlFrame_0;
//cout << "kdlFrame_1: " << endl;
//cout << kdlFrame_1;
KDL::RigidBodyInertia kdlRigidBodyInertia_0 = KDL::RigidBodyInertia();
KDL::RigidBodyInertia kdlRigidBodyInertia_1 = KDL::RigidBodyInertia();
m = idynChain.getMass(sensor_link);
m1 = idynSensor.getMass();
m0 = m-m1;
//It is not possible that the semilink is more heavy than the link!!!
assert(m0 > 0);
//r_{i,C_i}^i
r = idynChain.getCOM(i).subcol(0,3,3);
//R_s^i
R_s_wrt_i = idynSensor.getH().submatrix(0,2,0,2);
r_i_s_wrt_i = idynSensor.getH().subcol(0,3,3);
//r0 := r_{s,C_{{vl}_0}}^s
//r1 := r_{i,C_{{vl}_1}}^i
//
r1 = r_i_s_wrt_i + R_s_wrt_i*(idynSensor.getCOM().subcol(0,3,3));
//cout << "m0: " << m0 << endl;
r_i_C0_wrt_i = (1/m0)*(m*r-m1*r1);
r0 = R_s_wrt_i.transposed()*(r_i_C0_wrt_i-r_i_s_wrt_i);
I = idynChain.getInertia(i);
I1 = R_s_wrt_i*idynSensor.getInertia()*R_s_wrt_i.transposed();
rgg0 = -1*r+r_i_C0_wrt_i;
rgg1 = -1*r+r1;
I0 = R_s_wrt_i.transposed()*(I - I1 + m1*crossProductMatrix(rgg1)*crossProductMatrix(rgg1) + m0*crossProductMatrix(rgg0)*crossProductMatrix(rgg0))*R_s_wrt_i;
//DEBUG
//printMatrix("I",I);
//printMatrix("I1",I1);
//printMatrix("I0",I0);
//printMatrix("cross",crossProductMatrix(rgg1));
//cout << "m0: " << m0 << endl;
//printVector("r0",r0);
//printMatrix("I0",I0);
bool ret;
ret = idynDynamicalParameters2kdlRigidBodyInertia(m0,r0,I0,kdlRigidBodyInertia_0);
assert(ret);
if(!ret) return false;
ret = idynDynamicalParameters2kdlRigidBodyInertia(m1,r1,I1,kdlRigidBodyInertia_1);
assert(ret);
if(!ret) return false;
KDL::RigidBodyInertia kdlRigidBodyInertia_1_buf;
kdlRigidBodyInertia_1_buf = remainder_frame*kdlRigidBodyInertia_1;
kdlRigidBodyInertia_1 = kdlRigidBodyInertia_1_buf;
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::RotZ),kdlFrame_0,kdlRigidBodyInertia_0);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::RotZ),kdlFrame_0,kdlRigidBodyInertia_0);
}
kdlChain.addSegment(kdlSegment);
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::None),kdlFrame_1,kdlRigidBodyInertia_1);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::None),kdlFrame_1,kdlRigidBodyInertia_1);
}
kdlChain.addSegment(kdlSegment);
}
}
//Final link can be segment
if( final_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getHN(),kdlFrame);
kdlSegment = KDL::Segment(final_frame_name,KDL::Joint(final_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
if( max_links < (int)kdlChain.getNrOfSegments() )
{
KDL::Chain new_kdlChain;
for(int p=0; p < max_links; p++)
{
new_kdlChain.addSegment(kdlChain.getSegment(p));
}
kdlChain = new_kdlChain;
}
//Considering the H0 transformation
if( initial_frame_name.length() == 0 ) {
KDL::Chain new_chain;
KDL::Frame kdl_H0;
idynMatrix2kdlFrame(idynChain.getH0(),kdl_H0);
addBaseTransformation(kdlChain,new_chain,kdl_H0);
kdlChain = new_chain;
}
return true;
}
KukaKDL::KukaKDL(){
segment_map.push_back("base");
segment_map.push_back("00");
segment_map.push_back("01");
segment_map.push_back("02");
segment_map.push_back("03");
segment_map.push_back("04");
segment_map.push_back("05");
segment_map.push_back("06");
segment_map.push_back("07");
KDL::Chain chain;
//joint 0
chain.addSegment(KDL::Segment("base", KDL::Joint(KDL::Joint::None),
KDL::Frame::DH_Craig1989(0.0, ALPHA0, R0, 0.0)
));
//joint 1
chain.addSegment(KDL::Segment("00", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA1, R1, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA1, R1, 0.0).Inverse()*KDL::RigidBodyInertia(M1_KDL,
KDL::Vector(COGX1_KDL, COGY1_KDL, COGZ1_KDL),
KDL::RotationalInertia(XX1_KDL,YY1_KDL,ZZ1_KDL,XY1_KDL,XZ1_KDL,YZ1_KDL))));
//joint 2
chain.addSegment(KDL::Segment("01", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA2, R2, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA2, R2, 0.0).Inverse()*KDL::RigidBodyInertia(M2_KDL,
KDL::Vector(COGX2_KDL, COGY2_KDL, COGZ2_KDL),
KDL::RotationalInertia(XX2_KDL,YY2_KDL,ZZ2_KDL,XY2_KDL,XZ2_KDL,YZ2_KDL))));
//joint 3
chain.addSegment(KDL::Segment("02", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA3, R3, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA3, R3, 0.0).Inverse()*KDL::RigidBodyInertia(M3_KDL,
KDL::Vector(COGX1_KDL, COGY1_KDL, COGZ1_KDL),
KDL::RotationalInertia(XX1_KDL,YY1_KDL,ZZ1_KDL,XY1_KDL,XZ1_KDL,YZ1_KDL))));
//joint 4
chain.addSegment(KDL::Segment("03", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA4, R4, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA4, R4, 0.0).Inverse()*KDL::RigidBodyInertia(M4_KDL,
KDL::Vector(COGX4_KDL, COGY4_KDL, COGZ4_KDL),
KDL::RotationalInertia(XX4_KDL,YY4_KDL,ZZ4_KDL,XY4_KDL,XZ4_KDL,YZ4_KDL))));
//joint 5
chain.addSegment(KDL::Segment("04", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA5, R5, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA5, R5, 0.0).Inverse()*KDL::RigidBodyInertia(M5_KDL,
KDL::Vector(COGX5_KDL, COGY5_KDL, COGZ5_KDL),
KDL::RotationalInertia(XX5_KDL,YY5_KDL,ZZ5_KDL,XY5_KDL,XZ5_KDL,YZ5_KDL))));
//joint 6
chain.addSegment(KDL::Segment("05", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA6, R6, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA6, R6, 0.0).Inverse()*KDL::RigidBodyInertia(M6_KDL,
KDL::Vector(COGX6_KDL, COGY6_KDL, COGZ6_KDL),
KDL::RotationalInertia(XX6_KDL,YY6_KDL,ZZ6_KDL,XY6_KDL,XZ6_KDL,YZ6_KDL))));
//joint 7
chain.addSegment(KDL::Segment("06", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA7, R7, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA7, R7, 0.0).Inverse()*KDL::RigidBodyInertia(M7_KDL,
KDL::Vector(COGX7_KDL, COGY7_KDL, COGZ7_KDL),
KDL::RotationalInertia(XX7_KDL,YY7_KDL,ZZ7_KDL,XY7_KDL,XZ7_KDL,YZ7_KDL))));
//tool
chain.addSegment(KDL::Segment("07", KDL::Joint(KDL::Joint::None), KDL::Frame::Identity()));
tree.addChain(chain, "root");
treejacsolver = new KDL::TreeJntToJacSolver(tree);
fksolver = new KDL::TreeFkSolverPos_recursive(tree);
fksolvervel = new KDL::ChainFkSolverVel_recursive(chain);
q.resize(chain.getNrOfJoints());
dynModelSolver = new KDL::ChainDynParam(chain,KDL::Vector(0.,0.,-9.81));
qd.resize(chain.getNrOfJoints());
externalWrenchTorque.resize(chain.getNrOfJoints());
massMatrix.resize(chain.getNrOfJoints());
corioCentriTorque.resize(chain.getNrOfJoints());
gravityTorque.resize(chain.getNrOfJoints());
frictionTorque.resize(chain.getNrOfJoints());
actuatedDofs = Eigen::VectorXd::Constant(tree.getNrOfJoints(), 1);
lowerLimits.resize(tree.getNrOfJoints());
lowerLimits << -2.97, -2.10, -2.97, -2.10, -2.97, -2.10, -2.97;
upperLimits.resize(tree.getNrOfJoints());
upperLimits << 2.97, 2.10, 2.97, 2.10, 2.97, 2.10, 2.97;
outdate();
}