int main(int argc, char** argv) {
IKREAL_TYPE eerot[9], eetrans[3];
unsigned int c;
std::size_t pos1, pos2;
q_t q(6,0.0);
int iter = 0;
bool endOfDocument = false;
unsigned int num_of_joints = 6;
IKREAL_TYPE jointsComputed[num_of_joints];
double jointLimitMin[] = {J0_MIN, J1_MIN, J2_MIN, J3_MIN, J4_MIN, J5_MIN};
double jointLimitMax[] = {J0_MAX, J1_MAX, J2_MAX, J3_MAX, J4_MAX, J5_MAX};
bool jointViolation = false;
bool newline=false;
std::string line;
std::ifstream robot;
std::ofstream q_ikfast, t_ikfast;
q_ikfast.open(TEST_DATA_PATH_Q, std::ios::app);
t_ikfast.open(TEST_DATA_PATH_T, std::ios::app);
robot.open(ALL_Q_PATH); // check file exists
if(!robot.is_open()){
std::cout << "NO such file. Exit." << std::endl;
exit(-1);
}
std::getline(robot, line); //check file is not empty
endOfDocument = robot.eof();
if(endOfDocument){
exit(-1);
}
while (!endOfDocument /*&& (iter<ITER_MAX)*/) {
newline=false;
// for each ee pose, constraint all joint solutions
while(line!="\0"){
jointViolation=false;
// Parsing
q_t q;
pos1=0;
while(pos1 != std::string::npos) {
pos2 = line.find(DELIMITER, pos1+1);
std::string t;
if(pos1==0){
t = line.substr(pos1, pos2-pos1);
}
else {
t = line.substr(pos1+2, pos2-pos1-1);
}
//std::cout << t << " " << atof(t.c_str()) << std::endl;
pos1 = line.find(DELIMITER,pos1+1);
q.push_back(atof(t.c_str()));
}
// Apply joint constraints
for(std::size_t j=0;j<q.size();j++){
if(q[j]<jointLimitMin[j]){
if( (q[j]+2*M_PI)<jointLimitMax[j]){
q[j] +=2*M_PI;
}
else{
jointViolation=true;
break; //joint violation
}
}
else if(q[j]>jointLimitMax[j]){
if( (q[j]-2*M_PI)>jointLimitMin[j]){
q[j]-=2*M_PI;
}
else{
jointViolation=true;
break; //joint violation
}
}
}
// If this joint violates limits, get the next joint solution
if(jointViolation){
std::getline(robot, line); //get next joint solution for same ee pose
endOfDocument=robot.eof();
if(endOfDocument){
newline=false;
break;
}
continue;
}
// At this point, we have a joint solution beyond limits.
// So when we finish processing this ee pose, we break a new line
newline=true;
// Save result to file
q_ikfast <<q[0]<<" "<<q[1]<<" "<<q[2]<<" "<<q[3]<<" "<<q[4]<<" "<<q[5]<<" "<<"\n";
for(c=0;c<num_of_joints;c++){
jointsComputed[c]=q[c];
}
ComputeFk(jointsComputed, eetrans, eerot);
t_ikfast <<
eerot[0] << " " << eerot[1] << " " << eerot[2] << " " << eetrans[0] << " " <<
eerot[3] << " " << eerot[4] << " " << eerot[5] << " " << eetrans[1] << " " <<
eerot[6] << " " << eerot[7] << " " << eerot[8] << " " << eetrans[2] << "\n";
std::getline(robot, line); //get next joint solution for same ee pose
endOfDocument = robot.eof();
if(endOfDocument){
newline=false;
break;
}
}
std::getline(robot, line); //get first joint solution for new ee pose
endOfDocument = robot.eof();
if(endOfDocument){
newline=false;
break;
}
// Separates set of joint solutions for one ee pose by a newline.
if(newline){
q_ikfast << "\n";
t_ikfast << "\n";
}
iter ++;
}
robot.close();
q_ikfast.close();
t_ikfast.close();
return 0;
}
int main(int argc, char** argv)
{
IKREAL_TYPE eerot[9],eetrans[3];
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_joints = GetNumJoints();
unsigned int num_free_parameters = GetNumFreeParameters();
#else
// for IKFast 54
unsigned int num_of_joints = getNumJoints();
unsigned int num_free_parameters = getNumFreeParameters();
#endif
std::string cmd;
if (argv[1]) cmd = argv[1];
//printf("command: %s \n\n", cmd.c_str() );
if (cmd.compare("ik") == 0) // ik mode
{
if( argc == 1+7+num_free_parameters+1 ) // ik, given translation vector and quaternion pose
{
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
eetrans[0] = atof(argv[2]);
eetrans[1] = atof(argv[3]);
eetrans[2] = atof(argv[4]);
// Convert input effector pose, in w x y z quaternion notation, to rotation matrix.
// Must use doubles, else lose precision compared to directly inputting the rotation matrix.
double qw = atof(argv[5]);
double qx = atof(argv[6]);
double qy = atof(argv[7]);
double qz = atof(argv[8]);
const double n = 1.0f/sqrt(qx*qx+qy*qy+qz*qz+qw*qw);
qw *= n;
qx *= n;
qy *= n;
qz *= n;
eerot[0] = 1.0f - 2.0f*qy*qy - 2.0f*qz*qz; eerot[1] = 2.0f*qx*qy - 2.0f*qz*qw; eerot[2] = 2.0f*qx*qz + 2.0f*qy*qw;
eerot[3] = 2.0f*qx*qy + 2.0f*qz*qw; eerot[4] = 1.0f - 2.0f*qx*qx - 2.0f*qz*qz; eerot[5] = 2.0f*qy*qz - 2.0f*qx*qw;
eerot[6] = 2.0f*qx*qz - 2.0f*qy*qw; eerot[7] = 2.0f*qy*qz + 2.0f*qx*qw; eerot[8] = 1.0f - 2.0f*qx*qx - 2.0f*qy*qy;
// For debugging, output the matrix
for (unsigned char i=0; i<=8; i++)
{ // detect -0.0 and replace with 0.0
if ( ((int&)(eerot[i]) & 0xFFFFFFFF) == 0) eerot[i] = 0.0;
}
printf(" Rotation %f %f %f \n", eerot[0], eerot[1], eerot[2] );
printf(" %f %f %f \n", eerot[3], eerot[4], eerot[5] );
printf(" %f %f %f \n", eerot[6], eerot[7], eerot[8] );
printf("\n");
for(std::size_t i = 0; i < vfree.size(); ++i)
vfree[i] = atof(argv[13+i]);
#if IK_VERSION > 54
// for IKFast 56,61
bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
bool bSuccess = ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
if( !bSuccess ) {
fprintf(stderr,"Failed to get ik solution\n");
//return -1;
}
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
#if IK_VERSION > 54
// for IKFast 56,61
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
#else
// for IKFast 54
int this_sol_free_params = (int)vsolutions[i].GetFree().size();
#endif
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
#if IK_VERSION > 54
// for IKFast 56,61
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#else
// for IKFast 54
vsolutions[i].GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#endif
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}
}
else if( argc == 1+12+num_free_parameters+1 ) // ik, given rotation-translation matrix
{
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
eerot[0] = atof(argv[2]); eerot[1] = atof(argv[3]); eerot[2] = atof(argv[4]); eetrans[0] = atof(argv[5]);
eerot[3] = atof(argv[6]); eerot[4] = atof(argv[7]); eerot[5] = atof(argv[8]); eetrans[1] = atof(argv[9]);
eerot[6] = atof(argv[10]); eerot[7] = atof(argv[11]); eerot[8] = atof(argv[12]); eetrans[2] = atof(argv[13]);
for(std::size_t i = 0; i < vfree.size(); ++i)
vfree[i] = atof(argv[14+i]);
printf("translation: \n");
for (unsigned int i = 0; i < 3; i++) {
printf("%lf ", eetrans[i]);
}
printf("\n");
printf("rotation matix: \n");
for (unsigned int i = 0; i < 9; i++) {
printf("%lf%s", eerot[i], (i % 3 == 2)?"\n":" ");
}
printf("\n");
printf("vfree:\n");
for(std::size_t i = 0; i < vfree.size(); ++i)
printf("%lf ", vfree[i]);
printf("\n");
#if IK_VERSION > 54
// for IKFast 56,61
bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
bool bSuccess = ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
if( !bSuccess ) {
fprintf(stderr,"Failed to get ik solution\n");
return -1;
}
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
#if IK_VERSION > 54
// for IKFast 56,61
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
#else
// for IKFast 54
int this_sol_free_params = (int)vsolutions[i].GetFree().size();
#endif
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
#if IK_VERSION > 54
// for IKFast 56,61
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#else
// for IKFast 54
vsolutions[i].GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
#endif
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}
}
else {
printf("\n "
"Usage: \n\n "
" ./compute ik t0 t1 t2 qw qi qj qk free0 ...\n\n "
" Returns the ik solutions given the transformation of the end effector specified by \n "
" a 3x1 translation (tX), and a 1x4 quaternion (w + i + j + k). \n "
" There are %d free parameters that have to be specified.\n\n", num_free_parameters );
printf(" \n "
" ./compute ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n "
" Returns the ik solutions given the transformation of the end effector specified by \n "
" a 3x3 rotation R (rXX), and a 3x1 translation (tX). \n "
" There are %d free parameters that have to be specified.\n\n", num_free_parameters );
return 1;
}
} // endif ik mode
else if (cmd.compare("fk") == 0) // fk mode
{
if( argc != num_of_joints+2 ) {
printf("\n "
"Usage: \n\n "
" ./compute fk j0 j1 ... j%d \n\n"
" Returns the forward kinematic solution given the joint angles (in radians). \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
// Put input joint values into array
IKREAL_TYPE joints[num_of_joints];
for (unsigned int i=0; i<num_of_joints; i++)
{
joints[i] = atof(argv[i+2]);
}
#if IK_VERSION > 54
// for IKFast 56,61
ComputeFk(joints, eetrans, eerot); // void return
#else
// for IKFast 54
fk(joints, eetrans, eerot); // void return
#endif
printf("Found fk solution for end frame: \n\n");
printf(" Translation: x: %f y: %f z: %f \n", eetrans[0], eetrans[1], eetrans[2] );
printf("\n");
printf(" Rotation %f %f %f \n", eerot[0], eerot[1], eerot[2] );
printf(" Matrix: %f %f %f \n", eerot[3], eerot[4], eerot[5] );
printf(" %f %f %f \n", eerot[6], eerot[7], eerot[8] );
printf("\n");
// Display equivalent Euler angles
float yaw;
float pitch;
float roll;
if ( eerot[5] > 0.998 || eerot[5] < -0.998 ) { // singularity
yaw = IKatan2( -eerot[6], eerot[0] );
pitch = 0;
} else {
yaw = IKatan2( eerot[2], eerot[8] );
pitch = IKatan2( eerot[3], eerot[4] );
}
roll = IKasin( eerot[5] );
printf(" Euler angles: \n");
printf(" Yaw: %f ", yaw ); printf("(1st: rotation around vertical blue Z-axis in ROS Rviz) \n");
printf(" Pitch: %f \n", pitch );
printf(" Roll: %f \n", roll );
printf("\n");
// Convert rotation matrix to quaternion (Daisuke Miyazaki)
float q0 = ( eerot[0] + eerot[4] + eerot[8] + 1.0f) / 4.0f;
float q1 = ( eerot[0] - eerot[4] - eerot[8] + 1.0f) / 4.0f;
float q2 = (-eerot[0] + eerot[4] - eerot[8] + 1.0f) / 4.0f;
float q3 = (-eerot[0] - eerot[4] + eerot[8] + 1.0f) / 4.0f;
if(q0 < 0.0f) q0 = 0.0f;
if(q1 < 0.0f) q1 = 0.0f;
if(q2 < 0.0f) q2 = 0.0f;
if(q3 < 0.0f) q3 = 0.0f;
q0 = sqrt(q0);
q1 = sqrt(q1);
q2 = sqrt(q2);
q3 = sqrt(q3);
if(q0 >= q1 && q0 >= q2 && q0 >= q3) {
q0 *= +1.0f;
q1 *= SIGN(eerot[7] - eerot[5]);
q2 *= SIGN(eerot[2] - eerot[6]);
q3 *= SIGN(eerot[3] - eerot[1]);
} else if(q1 >= q0 && q1 >= q2 && q1 >= q3) {
q0 *= SIGN(eerot[7] - eerot[5]);
q1 *= +1.0f;
q2 *= SIGN(eerot[3] + eerot[1]);
q3 *= SIGN(eerot[2] + eerot[6]);
} else if(q2 >= q0 && q2 >= q1 && q2 >= q3) {
q0 *= SIGN(eerot[2] - eerot[6]);
q1 *= SIGN(eerot[3] + eerot[1]);
q2 *= +1.0f;
q3 *= SIGN(eerot[7] + eerot[5]);
} else if(q3 >= q0 && q3 >= q1 && q3 >= q2) {
q0 *= SIGN(eerot[3] - eerot[1]);
q1 *= SIGN(eerot[6] + eerot[2]);
q2 *= SIGN(eerot[7] + eerot[5]);
q3 *= +1.0f;
} else {
printf("Error while converting to quaternion! \n");
}
float r = NORM(q0, q1, q2, q3);
q0 /= r;
q1 /= r;
q2 /= r;
q3 /= r;
printf(" Quaternion: %f %f %f %f \n", q0, q1, q2, q3 );
printf(" ");
// print quaternion with convention and +/- signs such that it can be copy-pasted into WolframAlpha.com
printf("%f ", q0);
if (q1 > 0) printf("+ %fi ", q1); else if (q1 < 0) printf("- %fi ", -q1); else printf("+ 0.00000i ");
if (q2 > 0) printf("+ %fj ", q2); else if (q2 < 0) printf("- %fj ", -q2); else printf("+ 0.00000j ");
if (q3 > 0) printf("+ %fk ", q3); else if (q3 < 0) printf("- %fk ", -q3); else printf("+ 0.00000k ");
printf(" (alternate convention) \n");
printf("\n\n");
}
else if (cmd.compare("iktiming") == 0) // generate random ik and check time performance
{
if( argc != 2 ) {
printf("\n "
"Usage: \n\n "
" ./compute iktiming \n\n"
" For fixed number of iterations, generates random joint angles, then \n"
" calculates fk, calculates ik, measures average time taken. \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
//for(std::size_t i = 0; i < vfree.size(); ++i)
// vfree[i] = atof(argv[13+i]);
srand( (unsigned)time(0) ); // seed random number generator
float min = -3.14;
float max = 3.14;
float rnd;
IKREAL_TYPE joints[num_of_joints];
timespec start_time, end_time;
unsigned int elapsed_time = 0;
unsigned int sum_time = 0;
unsigned int fail_count = 0;
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_tests = 10;
#else
// for IKFast 54
unsigned int num_of_tests = 100000;
#endif
for (unsigned int i=0; i < num_of_tests; i++)
{
// Measure avg time for whole process
//clock_gettime(CLOCK_REALTIME, &start_time);
// Put random joint values into array
for (unsigned int i=0; i<num_of_joints; i++)
{
float rnd = (float)rand() / (float)RAND_MAX;
joints[i] = min + rnd * (max - min);
}
/*
printf("Joint angles: ");
for (unsigned int i=0; i<num_of_joints; i++)
{
printf("%f ", joints[i] );
}
printf("\n");
*/
#if IK_VERSION > 54
// for IKFast 56,61
ComputeFk(joints, eetrans, eerot); // void return
#else
// for IKFast 54
fk(joints, eetrans, eerot); // void return
#endif
// Measure avg time for IK
clock_gettime(CLOCK_REALTIME, &start_time);
#if IK_VERSION > 54
// for IKFast 56,61
vfree[0] = 5;
if (!ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions)) {
fail_count++;
} else {
printf("joint angles: \n");
for (unsigned int i=0; i<num_of_joints; i++)
{
printf("%lf ", joints[i]);
}
printf("\n");
printf("translation: \n");
for (unsigned int i = 0; i < 3; i++) {
printf("%lf ", eetrans[i]);
}
printf("\n");
printf("rotation matix: \n");
for (unsigned int i = 0; i < 9; i++) {
printf("%lf%s", eerot[i], (i % 3 == 2)?"\n":" ");
}
printf("\n");
/*unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
printf("Found %d ik solutions:\n", num_of_solutions );
std::vector<IKREAL_TYPE> solvalues(num_of_joints);
for(std::size_t i = 0; i < num_of_solutions; ++i) {
const IkSolutionBase<IKREAL_TYPE>& sol = solutions.GetSolution(i);
int this_sol_free_params = (int)sol.GetFree().size();
printf("sol%d (free=%d): ", (int)i, this_sol_free_params );
std::vector<IKREAL_TYPE> vsolfree(this_sol_free_params);
sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
for( std::size_t j = 0; j < solvalues.size(); ++j)
printf("%.15f, ", solvalues[j]);
printf("\n");
}*/
}
#else
// for IKFast 54
ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
/*
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
*/
clock_gettime(CLOCK_REALTIME, &end_time);
elapsed_time = (unsigned int)(end_time.tv_nsec - start_time.tv_nsec);
sum_time += elapsed_time;
} // endfor
unsigned int avg_time = (unsigned int)sum_time / (unsigned int)num_of_tests;
printf("avg time: %f ms over %d tests \n", (float)avg_time/1000.0, num_of_tests );
printf("Failed of %d tests\n", fail_count);
return 1;
}
else if (cmd.compare("iktiming2") == 0) // for fixed joint values, check time performance of ik
{
if( argc != 2 ) {
printf("\n "
"Usage: \n\n "
" ./compute iktiming2 \n\n"
" For fixed number of iterations, with one set of joint variables, this \n"
" finds the ik solutions and measures the average time taken. \n\n", num_of_joints-1 );
return 1;
}
printf("\n\n");
#if IK_VERSION > 54
// for IKFast 56,61
IkSolutionList<IKREAL_TYPE> solutions;
#else
// for IKFast 54
std::vector<IKSolution> vsolutions;
#endif
std::vector<IKREAL_TYPE> vfree(num_free_parameters);
//for(std::size_t i = 0; i < vfree.size(); ++i)
// vfree[i] = atof(argv[13+i]);
IKREAL_TYPE joints[num_of_joints];
timespec start_time, end_time;
unsigned int elapsed_time = 0;
unsigned int sum_time = 0;
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_tests = 1000000;
#else
// for IKFast 54
unsigned int num_of_tests = 100000;
#endif
// fixed rotation-translation matrix corresponding to an unusual robot pose
eerot[0] = 0.002569; eerot[1] = -0.658044; eerot[2] = -0.752975; eetrans[0] = 0.121937;
eerot[3] = 0.001347; eerot[4] = -0.752975; eerot[5] = 0.658048; eetrans[1] = -0.276022;
eerot[6] = -0.999996; eerot[7] = -0.002705; eerot[8] = -0.001047; eetrans[2] = 0.005685;
for (unsigned int i=0; i < num_of_tests; i++)
{
clock_gettime(CLOCK_REALTIME, &start_time);
#if IK_VERSION > 54
// for IKFast 56,61
ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
#else
// for IKFast 54
ik(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, vsolutions);
#endif
/*
#if IK_VERSION > 54
// for IKFast 56,61
unsigned int num_of_solutions = (int)solutions.GetNumSolutions();
#else
// for IKFast 54
unsigned int num_of_solutions = (int)vsolutions.size();
#endif
printf("Found %d ik solutions:\n", num_of_solutions );
*/
clock_gettime(CLOCK_REALTIME, &end_time);
elapsed_time = (unsigned int)(end_time.tv_nsec - start_time.tv_nsec);
sum_time += elapsed_time;
} // endfor
unsigned int avg_time = (unsigned int)sum_time / (unsigned int)num_of_tests;
printf("avg time: %f ms over %d tests \n", (float)avg_time/1000.0, num_of_tests );
return 1;
} else {
printf("\n"
"Usage: \n\n");
printf(" ./compute fk j0 j1 ... j%d \n\n"
" Returns the forward kinematic solution given the joint angles (in radians). \n\n", num_of_joints-1 );
printf("\n"
" ./compute ik t0 t1 t2 qw qi qj qk free0 ... \n\n"
" Returns the ik solutions given the transformation of the end effector specified by \n"
" a 3x1 translation (tX), and a 1x4 quaternion (w + i + j + k). \n"
" There are %d free parameters that have to be specified. \n\n", num_free_parameters );
printf(" \n"
" ./compute ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n"
" Returns the ik solutions given the transformation of the end effector specified by \n"
" a 3x3 rotation R (rXX), and a 3x1 translation (tX). \n"
" There are %d free parameters that have to be specified. \n\n", num_free_parameters );
printf("\n"
" ./compute iktiming \n\n"
" For fixed number of iterations, generates random joint angles, then \n"
" calculates fk, calculates ik, measures average time taken. \n\n", num_of_joints-1 );
printf("\n"
" ./compute iktiming2 \n\n"
" For fixed number of iterations, with one set of joint variables, this \n"
" finds the ik solutions and measures the average time taken. \n\n", num_of_joints-1 );
return 1;
}
return 0;
}
