bool Tree::getChain(const std::string& chain_root, const std::string& chain_tip, Chain& chain)const
{
// clear chain
chain = Chain();
// walk down from chain_root and chain_tip to the root of the tree
vector<SegmentMap::key_type> parents_chain_root, parents_chain_tip;
for (SegmentMap::const_iterator s=getSegment(chain_root); s!=segments.end(); s=s->second.parent){
parents_chain_root.push_back(s->first);
if (s->first == root_name) break;
}
if (parents_chain_root.empty() || parents_chain_root.back() != root_name) return false;
for (SegmentMap::const_iterator s=getSegment(chain_tip); s!=segments.end(); s=s->second.parent){
parents_chain_tip.push_back(s->first);
if (s->first == root_name) break;
}
if (parents_chain_tip.empty() || parents_chain_tip.back() != root_name) return false;
// remove common part of segment lists
SegmentMap::key_type last_segment = root_name;
while (!parents_chain_root.empty() && !parents_chain_tip.empty() &&
parents_chain_root.back() == parents_chain_tip.back()){
last_segment = parents_chain_root.back();
parents_chain_root.pop_back();
parents_chain_tip.pop_back();
}
parents_chain_root.push_back(last_segment);
// add the segments from the root to the common frame
for (unsigned int s=0; s<parents_chain_root.size()-1; s++){
Segment seg = getSegment(parents_chain_root[s])->second.segment;
Frame f_tip = seg.pose(0.0).Inverse();
Joint jnt = seg.getJoint();
if (jnt.getType() == Joint::RotX || jnt.getType() == Joint::RotY || jnt.getType() == Joint::RotZ || jnt.getType() == Joint::RotAxis)
jnt = Joint(jnt.getName(), f_tip*jnt.JointOrigin(), f_tip.M*jnt.JointAxis(), Joint::RotAxis);
else if (jnt.getType() == Joint::TransX || jnt.getType() == Joint::TransY || jnt.getType() == Joint::TransZ || jnt.getType() == Joint::TransAxis)
jnt = Joint(jnt.getName(),f_tip*jnt.JointOrigin(), f_tip.M*jnt.JointAxis(), Joint::TransAxis);
chain.addSegment(Segment(getSegment(parents_chain_root[s+1])->second.segment.getName(),
jnt, f_tip, getSegment(parents_chain_root[s+1])->second.segment.getInertia()));
}
// add the segments from the common frame to the tip frame
for (int s=parents_chain_tip.size()-1; s>-1; s--){
chain.addSegment(getSegment(parents_chain_tip[s])->second.segment);
}
return true;
}
COLLADASW::Joint KDLColladaLibraryJointsExporter::makeColladaSWJoint(COLLADASW::StreamWriter* streamWriter, Joint& kdlJoint, string uniqueId)
{
string jointName = kdlJoint.getName();
if (jointName == kdlDefaultJointName)
jointName = uniqueId;
Joint::JointType jointType = kdlJoint.getType();
Vector jointAxis = kdlJoint.JointAxis();
COLLADAFW::JointPrimitive::Type type;
switch (jointType)
{
case Joint::RotAxis :
{
type = COLLADAFW::JointPrimitive::REVOLUTE;
break;
}
case Joint::RotX :
{
type = COLLADAFW::JointPrimitive::REVOLUTE;
break;
}
case Joint::RotY :
{
type = COLLADAFW::JointPrimitive::REVOLUTE;
break;
}
case Joint::RotZ :
{
type = COLLADAFW::JointPrimitive::REVOLUTE;
break;
}
case Joint::TransAxis :
{
type = COLLADAFW::JointPrimitive::PRISMATIC;
break;
}
case Joint::TransX :
{
type = COLLADAFW::JointPrimitive::PRISMATIC;
break;
}
case Joint::TransY :
{
type = COLLADAFW::JointPrimitive::PRISMATIC;
break;
}
case Joint::TransZ :
{
type = COLLADAFW::JointPrimitive::PRISMATIC;
break;
}
default :
LOG(ERROR) << "Unknown joint type: " << kdlJoint.getTypeName() << ", changing to revolute type with no axis.";
type = COLLADAFW::JointPrimitive::REVOLUTE;
}
COLLADABU::Math::Vector3 axis(jointAxis.x(), jointAxis.y(), jointAxis.z());
COLLADAFW::JointPrimitive jointPrimitive(COLLADAFW::UniqueId(uniqueId), type);
jointPrimitive.setAxis(axis);
// jointPrimitive.setHardLimitMax(10);
// jointPrimitive.setHardLimitMin(-10);
COLLADASW::Joint colladaJoint(streamWriter, jointPrimitive, uniqueId, jointName); //TODO make sure that ID is unique
// kdlJoint.name = uniqueId;
LOG(INFO) << "Joint id: " << colladaJoint.getJointId();
LOG(INFO) << "Joint name: " << colladaJoint.getJointName();
return colladaJoint;
}
