C++ kdl::Chain类代码示例

void getKDLChainInfo(kinematics_msgs::KinematicSolverInfo &chain_info)
{
	unsigned int nj = chain.getNrOfJoints();
	unsigned int nl = chain.getNrOfSegments();
	
	ROS_DEBUG("nj: %d", nj);
	ROS_DEBUG("nl: %d", nl);

	//---setting up response

	//joint_names
	for(unsigned int i=0; i<nj; i++)
	{
		ROS_DEBUG("joint_name[%d]: %s", i, chain.getSegment(i).getJoint().getName().c_str());
		chain_info.joint_names.push_back(chain.getSegment(i).getJoint().getName());
	}
	//limits
		//joint limits are only saved in KDL::ChainIkSolverPos_NR_JL iksolverpos -> ik_solve().....but this is not visible here!
/*for(unsigned int i=0; i<nj; i++)
  {
		chain_info.limits[i].joint_name=chain.getSegment(i).getJoint().getName();
		chain_info.limits[i].has_position_limits=
		chain_info.limits[i].min_position=
		chain_info.limits[i].max_position=	
		chain_info.limits[i].has_velocity_limits=
		chain_info.limits[i].max_velocity=
		chain_info.limits[i].has_acceleration_limits=
		chain_info.limits[i].max_acceleration=
	}*/
	//link_names	
	for(unsigned int i=0; i<nl; i++)
	{
		chain_info.link_names.push_back(chain.getSegment(i).getName());
	}
}

ChainKinematics::ChainKinematics(const KDL::Chain chain, const double lambda) : 
	kinChain_(chain),
	Njnt_(chain.getNrOfJoints()),
	Nsegment_(chain.getNrOfSegments()) {

		initialize(lambda);

	}

KDL::Wrenches idynChainGet_usingKDL_aux(iCub::iDyn::iDynChain & idynChain, iCub::iDyn::iDynInvSensor & idynSensor,yarp::sig::Vector & ddp0)
{
    yarp::sig::Vector q,dq,ddq;
    q = idynChain.getAng();
    dq = idynChain.getDAng();
    ddq = idynChain.getD2Ang();
    
    KDL::Chain kdlChain;
    
    std::vector<std::string> la_joints;
    la_joints.push_back("left_shoulder_pitch");
    la_joints.push_back("left_shoulder_roll");
    la_joints.push_back("left_arm_ft_sensor");
    la_joints.push_back("left_shoulder_yaw");
    la_joints.push_back("left_elbow");
    la_joints.push_back("left_wrist_prosup");
    la_joints.push_back("left_wrist_pitch");
    la_joints.push_back("left_wrist_yaw");


    
    idynSensorChain2kdlChain(idynChain,idynSensor,kdlChain,la_joints,la_joints);
    
    std::cout << kdlChain << std::endl;
    
    int nj = idynChain.getN();
    
    //cout << "idynChainGet_usingKDL_aux with sensor"  << " nrJoints " << kdlChain.getNrOfJoints() <<  " nrsegments " << kdlChain.getNrOfSegments() << endl;

    assert(nj==kdlChain.getNrOfJoints());
    assert(nj+1==kdlChain.getNrOfSegments());
    
    
    KDL::JntArray jointpositions = KDL::JntArray(nj);
    KDL::JntArray jointvel = KDL::JntArray(nj);
    KDL::JntArray jointacc = KDL::JntArray(nj);
    KDL::JntArray torques = KDL::JntArray(nj);

    for(unsigned int i=0;i<nj;i++){
        jointpositions(i)=q[i];
        jointvel(i) = dq[i];
        jointacc(i) = ddq[i];
    }
    
    KDL::Wrenches f_ext(nj+1);
    KDL::Wrenches f_int(nj+1);
    
    KDL::Vector grav_kdl;
    idynVector2kdlVector(idynChain.getH0().submatrix(0,2,0,2).transposed()*ddp0,grav_kdl);
    
    KDL::ChainIdSolver_RNE_IW neSolver = KDL::ChainIdSolver_RNE_IW(kdlChain,-grav_kdl);
    
    int ret = neSolver.CartToJnt_and_internal_wrenches(jointpositions,jointvel,jointacc,f_ext,torques,f_int);
    assert(ret >= 0);
    
    return f_int;
}

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));
    }


}

 void getKDLChainInfo(const KDL::Chain &chain,
                      kinematics_msgs::KinematicSolverInfo &chain_info)
 {
   int i=0; // segment number
   while(i < (int)chain.getNrOfSegments())
   {
     chain_info.link_names.push_back(chain.getSegment(i).getName());
     i++;
   }
 }

sensor_msgs::JointState init_message(const KDL::Chain &chain) {
	sensor_msgs::JointState msg;
	for (unsigned int i=0; i < chain.getNrOfSegments(); ++i) {
		KDL::Segment segment = chain.getSegment(i);
		KDL::Joint joint = segment.getJoint();
		if (joint.getType() == KDL::Joint::JointType::None) continue;
		msg.name.push_back(joint.getName());
		msg.position.push_back(0);
	}
	return msg;
}

FkLookup::ChainFK::ChainFK(const KDL::Tree& tree, const std::string& root, const std::string& tip):root_name(root),tip_name(tip){
    KDL::Chain chain;
    tree.getChain(root_name, tip_name, chain);
    solver =  new KDL::ChainFkSolverPos_recursive(chain);
    unsigned int  num = chain.getNrOfSegments();
    for(unsigned int i = 0; i < num; ++i){
	const KDL::Joint &joint = chain.getSegment(i).getJoint();
	if (joint.getType() != KDL::Joint::None) joints.insert(std::make_pair(joint.getName(),joints.size()));
    }
    ROS_ASSERT(joints.size() == chain.getNrOfJoints());
}

bool leatherman::getSegmentIndex(const KDL::Chain &c, std::string name, int &index)
{
  for(size_t j = 0; j < c.getNrOfSegments(); ++j)
  {
    if(c.getSegment(j).getName().compare(name) == 0)
    {
      index = j;
      return true;
    }
  }
  return false;
}

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;

}

 int getKDLSegmentIndex(const KDL::Chain &chain, 
                        const std::string &name)
 {
   int i=0; // segment number
   while(i < (int)chain.getNrOfSegments())
   {
     if(chain.getSegment(i).getName() == name)
     {
       return i+1;
     }
     i++;
   }
   return -1;   
 }

void computeRNEDynamicsForChain(KDL::Tree& a_tree, const std::string& rootLink, const std::string& tipLink, KDL::Vector& grav,
                                std::vector<kdle::JointState>& jointState, std::vector<kdle::SegmentState>& linkState)
{
    KDL::Chain achain;
    a_tree.getChain(rootLink, tipLink, achain);

    KDL::JntArray q(achain.getNrOfJoints());
    KDL::JntArray q_dot(achain.getNrOfJoints());
    KDL::JntArray q_dotdot(achain.getNrOfJoints());
    JntArray torques(achain.getNrOfJoints());
    KDL::Wrenches f_ext;
    f_ext.resize(achain.getNrOfSegments());

    std::cout << endl << endl;
    printf("RNE dynamics values \n");

    KDL::ChainIdSolver_RNE *rneDynamics = new ChainIdSolver_RNE(achain, -grav);
    
    for (unsigned int i = 0; i < achain.getNrOfJoints(); ++i)
    {
        q(i) = jointState[i].q;
        q_dot(i) = jointState[i].qdot;
        q_dotdot(i) = jointState[i].qdotdot;
        printf("q, qdot %f, %f\n", q(i), q_dot(i));
    }

    
    rneDynamics->CartToJnt(q, q_dot, q_dotdot, f_ext, torques);

    for (unsigned int i = 0; i < achain.getNrOfJoints(); ++i)
    {
        printf("index, q, qdot, torques %d, %f, %f, %f\n", i, q(i), q_dot(i), torques(i));
    }
    return;
}

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;
}

TEST_F(PR2IKTest, SingleRowRotation)
{
  YAML::Node node = YAML::LoadFile("pr2_left_arm_scope.yaml");

  ASSERT_NO_THROW(node.as< giskard_core::ScopeSpec >());
  giskard_core::ScopeSpec scope_spec = node.as<giskard_core::ScopeSpec>();

  ASSERT_NO_THROW(giskard_core::generate(scope_spec));
  giskard_core::Scope scope = giskard_core::generate(scope_spec);

  ASSERT_TRUE(scope.has_double_expression("pr2_rot_x"));

  KDL::Expression<double>::Ptr exp = scope.find_double_expression("pr2_rot_x");
  ASSERT_TRUE(exp.get()); 

  std::string base = "base_link";
  std::string tip = "l_wrist_roll_link";
  KDL::Chain chain;
  ASSERT_TRUE(tree.getChain(base, tip, chain));
  ASSERT_EQ(chain.getNrOfJoints(), exp->number_of_derivatives());

  boost::shared_ptr<KDL::ChainJntToJacSolver> jac_solver;
  jac_solver = boost::shared_ptr<KDL::ChainJntToJacSolver>(
      new KDL::ChainJntToJacSolver(chain));

  for(int i=-11; i<12; ++i)
  {
    std::vector<double> exp_in;
    KDL::JntArray solver_in(exp->number_of_derivatives());
    for(size_t j=0; j<exp->number_of_derivatives(); ++j)
    {
      double value = 0.1*i;
      exp_in.push_back(value);
      solver_in(j) = value;
    }

    exp->setInputValues(exp_in);
    exp->value();

    KDL::Jacobian solver_jac(chain.getNrOfJoints());
    ASSERT_GE(jac_solver->JntToJac(solver_in, solver_jac), 0.0);

    for (size_t j=0; j<chain.getNrOfJoints(); ++j)
      EXPECT_NEAR(solver_jac(3,j), exp->derivative(j), KDL::epsilon);
  }
}

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;

}

void ArmKinematics::initInternals(const KDL::Chain& chain)
{
  dof_ = chain.getNrOfJoints();
  q_tmp_.resize(dof_);
  
  deleteInternals();

  fk_solver_ = new KDL::ChainFkSolverPos_recursive(chain);
  ik_solver_ = new KDL::ChainIkSolverVel_wdls(chain);
}