TEST_F(VectorExpressionGenerationTest, Constructor)
{
giskard::VectorConstructorSpec descr;
giskard::Scope scope;
descr.set_x(x);
descr.set_y(y);
descr.set_z(z);
KDL::Vector v = descr.get_expression(scope)->value();
EXPECT_DOUBLE_EQ(v.x(), 1.1);
EXPECT_DOUBLE_EQ(v.y(), 2.2);
EXPECT_DOUBLE_EQ(v.z(), 3.3);
}
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;
}
// Set vector from tf
void set_vector( tf::StampedTransform t, KDL::Vector& v )
{
v.x(t.getOrigin().x());
v.y(t.getOrigin().y());
v.z(t.getOrigin().z());
}
// construct vector
urdf::Vector3 toUrdf(const KDL::Vector & v)
{
return urdf::Vector3(v.x(), v.y(), v.z());
}
double leatherman::distance(const KDL::Vector &a, const KDL::Vector &b)
{
return sqrt((a.x()-b.x())*(a.x()-b.x()) + (a.y()-b.y())*(a.y()-b.y()) + (a.z()-b.z())*(a.z()-b.z()));
}
//KDL vector to eigen
void convert(const KDL::Vector &in, eVector3 &out) {
out<<in.x(), in.y(), in.z();
}
//Pose is global pose with odometry
void cob_cartesian_trajectories::cartStateCallback(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
if(bRun)
{
ros::Duration dt = ros::Time::now() - timer;
cout << "\n" << "===================================" << "\n\n" << "dt: " << dt << "\n";
timer = ros::Time::now();
if((targetDuration-currentDuration) <= 0)
{
geometry_msgs::Twist twist;
cart_command_pub.publish(twist);
ROS_INFO("finished trajectory in %f", ros::Time::now().toSec() - tstart.toSec());
success = true;
stopTrajectory();
return;
}
KDL::Frame current;
KDL::Frame myhinge;
tf::PoseMsgToKDL(msg->pose, current);
tf::PoseMsgToKDL(current_hinge.pose, myhinge);
KDL::Vector unitz = myhinge.M.UnitZ();
std::cout << "Radius because of Hinge: " << (myhinge.p - current.p) << "UnitZ of hinge: " << unitz.z() << "\n";
// get twist to be published
geometry_msgs::Twist twist;
twist = getTwist(currentDuration, current);
// publish twist
cart_command_pub.publish(twist);
// add needed time
currentDuration+=dt.toSec();
// add position to be visualized in rviz
geometry_msgs::Point p;
p.x = msg->pose.position.x;
p.y = msg->pose.position.y;
p.z = msg->pose.position.z;
trajectory_points.push_back(p);
}
else
{
//publish zero
geometry_msgs::Twist twist;
cart_command_pub.publish(twist);
}
}