C++ Frame::M方法代码示例

bool checkIdentity(KDL::Frame frame, double tol = 1e-4)
{
    for(int i=0; i < 3; i++ )
    {
       for(int j=0; j < 3; j++ )
       {
          double err;
          if( i == j )
          {
              err = fabs(frame.M(i,j)-1);
          }
          else
          {
              err = fabs(frame.M(i,j));
          }

          if( err < tol ) return false;
       }
    }

    for(int i =0; i < 3; i++ )
    {
        double err = fabs(frame.p[i]);
        if( err < tol ) return false;
    }

    return true;
}

void leatherman::transformEigenToKDL(const Eigen::Affine3d &e, KDL::Frame &k)
{
  k.p[0] = e(0,3);
  k.p[1] = e(1,3);
  k.p[2] = e(2,3);

  k.M(0,0) = e(0,0);
  k.M(0,1) = e(0,1);
  k.M(0,2) = e(0,2);
  k.M(1,0) = e(1,0);
  k.M(1,1) = e(1,1);
  k.M(1,2) = e(1,2);
  k.M(2,0) = e(2,0);
  k.M(2,1) = e(2,1);
  k.M(2,2) = e(2,2);
}

void ChainKinematics::getXInv(double (&t)[3], double (&rot)[9], const double* q, const int segmentNr) const {

	int i,j;

	KDL::JntArray qJA(Njnt_);
	for(i=0; i<Njnt_; i++)
		qJA(i) = q[i];

	KDL::Frame frame;

	//compute forward kinematics
	checkSegmentNr(segmentNr);
	if(fksolverPos_->JntToCart(qJA, frame, segmentNr) < 0) {
		std::cerr << "ERROR: [ChainKinematics][getXInv] something went wrong during JntToCart! Exiting!" << std::endl;
		exit(-1);
	}

    //get inverse transformation
    frame = frame.Inverse();

	for(i=0; i<3; i++) {
		t[i] = frame.p(i);
		for(j=0; j<3; j++)
			rot[i*3+j] = frame.M(i,j);
	}

}

void ChainKinematics::getX(double (&t)[3], double (&rot)[9], const double* q, const int segmentNr) const {

	int i,j;

    ////DEBUG
    //std::cout << "++++++++++++++++++++ DEBUG 0" << std::endl;
    //std::cout << "q = ";
	//for(i=0; i<Njnt_; i++)
        //std::cout << q[i] << " " << std::endl;
    //std::cout << std::endl;


	KDL::JntArray qJA(Njnt_);
	for(i=0; i<Njnt_; i++)
		qJA(i) = q[i];

	KDL::Frame frame;

	//compute forward kinematics
	checkSegmentNr(segmentNr);
	if(fksolverPos_->JntToCart(qJA, frame, segmentNr) < 0) {
		std::cerr << "ERROR: [ChainKinematics][getX] something went wrong during JntToCart! Exiting!" << std::endl;
		exit(-1);
	}

	for(i=0; i<3; i++) {
		t[i] = frame.p(i);
		for(j=0; j<3; j++)
			rot[i*3+j] = frame.M(i,j);
	}

}

void leatherman::transformKDLToEigen(const KDL::Frame &k, Eigen::Affine3d &e)
{
  e(0,3) = k.p[0];
  e(1,3) = k.p[1];
  e(2,3) = k.p[2];

  e(0,0) = k.M(0,0);
  e(0,1) = k.M(0,1);
  e(0,2) = k.M(0,2);
  e(1,0) = k.M(1,0);
  e(1,1) = k.M(1,1);
  e(1,2) = k.M(1,2);
  e(2,0) = k.M(2,0);
  e(2,1) = k.M(2,1);
  e(2,2) = k.M(2,2);

  e(3,0) = 0.0;
  e(3,1) = 0.0;
  e(3,2) = 0.0;
  e(3,3) = 1.0;
}

 Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame &p)
 {
   Eigen::Matrix4f b = Eigen::Matrix4f::Identity();
   for(int i=0; i < 3; i++)
   {
     for(int j=0; j<3; j++)
     {
       b(i,j) = p.M(i,j);
     }
     b(i,3) = p.p(i);
   }
   return b;
 }

TEST(TFKDLConversions, tf_kdl_pose)
{
  tf::Pose t;
  tf::Quaternion tq;
  tq[0] = gen_rand(-1.0,1.0);
  tq[1] = gen_rand(-1.0,1.0);
  tq[2] = gen_rand(-1.0,1.0);
  tq[3] = gen_rand(-1.0,1.0);
  tq.normalize();
  t.setOrigin(tf::Vector3(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10)));
  t.setRotation(tq);

  //test tf->kdl                                                                                                              
  KDL::Frame k;
  PoseTFToKDL(t,k);

  for(int i=0; i < 3; i++)
  {
    ASSERT_NEAR(t.getOrigin()[i],k.p[i],1e-6);
    for(int j=0; j < 3; j++)
    {
      ASSERT_NEAR(t.getBasis()[i][j],k.M(i,j),1e-6);
    }
  }

  //test kdl->tf                                                                                                              
  tf::Pose r;
  PoseKDLToTF(k,r);

  for(int i=0; i< 3; i++)
  {
    ASSERT_NEAR(t.getOrigin()[i],r.getOrigin()[i],1e-6);
    for(int j=0; j < 3; j++)
    {
      ASSERT_NEAR(t.getBasis()[i][j],r.getBasis()[i][j],1e-6);
    }

  }
}

void ChainKinematics::getQ(double* q, const double* qInit, const double (&t)[3], const double (&rot)[9]) const {
	int i,j;

	KDL::JntArray qInitJA(Njnt_);
	for(i=0; i<Njnt_; i++)
		qInitJA(i) = qInit[i];

	KDL::Frame frame;
	for(i=0; i<3; i++) {
		frame.p(i) = t[i];
		for(j=0; j<3; j++)
			frame.M(i,j) = rot[i*3+j];
	}
	KDL::JntArray qJA;

	if(iksolverPos_->CartToJnt(qInitJA, frame, qJA) < 0) {
		std::cerr << "ERROR: [ChainKinematics][getQ] something went wrong during CartToJnt! Exiting!" << std::endl;
		exit(-1);
	}

	for(i=0; i<Njnt_; i++)
		q[i] = qJA(i);
}

bool WamIkKdl::ik(vector<double> goal_in_cartesian, vector<double> currentjoints, vector<double>& goal_in_joints){

  //fk solver
  KDL::ChainFkSolverPos_recursive fksolver(KDL::ChainFkSolverPos_recursive(this->wam63_));

  // Create joint array
  KDL::JntArray setpointJP = KDL::JntArray(this->num_joints_);
  KDL::JntArray max = KDL::JntArray(this->num_joints_); //The maximum joint positions
  KDL::JntArray min = KDL::JntArray(this->num_joints_); //The minimium joint positions

  double minjp[7] = {-2.6,-2.0,-2.8,-0.9,-4.76,-1.6,-3.0};
  double maxjp[7] = { 2.6, 2.0, 2.8, 3.2, 1.24, 1.6, 3.0};

  for(unsigned int ii=0; ii < this->num_joints_; ii++){
    max(ii) = maxjp[ii];
    min(ii) = minjp[ii];
  }

  //Create inverse velocity solver
  KDL::ChainIkSolverVel_pinv_givens iksolverv = KDL::ChainIkSolverVel_pinv_givens(this->wam63_);
  
  //Iksolver Position: Maximum 100 iterations, stop at accuracy 1e-6
  //ChainIkSolverPos_NR iksolver = ChainIkSolverPos_NR(wam63,fksolver,iksolverv,100,1e-6);
  KDL::ChainIkSolverPos_NR_JL iksolver = KDL::ChainIkSolverPos_NR_JL(this->wam63_, min, max, fksolver, iksolverv, 2000, 1e-6); //With Joints Limits

  KDL::Frame cartpos;
  KDL::JntArray jointpos = KDL::JntArray(this->num_joints_);
  KDL::JntArray currentJP = KDL::JntArray(this->num_joints_);
  
  // Copying position to KDL frame
  cartpos.p(0) = goal_in_cartesian.at(3);
  cartpos.p(1) = goal_in_cartesian.at(7);
  cartpos.p(2) = goal_in_cartesian.at(11);

  // Copying Rotation to KDL frame
  cartpos.M(0,0) = goal_in_cartesian.at(0);
  cartpos.M(0,1) = goal_in_cartesian.at(1);
  cartpos.M(0,2) = goal_in_cartesian.at(2);
  cartpos.M(1,0) = goal_in_cartesian.at(4);
  cartpos.M(1,1) = goal_in_cartesian.at(5);
  cartpos.M(1,2) = goal_in_cartesian.at(6);
  cartpos.M(2,0) = goal_in_cartesian.at(8);
  cartpos.M(2,1) = goal_in_cartesian.at(9);
  cartpos.M(2,2) = goal_in_cartesian.at(10);

  for(unsigned int ii=0; ii < this->num_joints_; ii++)
    currentJP(ii) = currentjoints.at(ii);

  // Calculate inverse kinematics to go from currentJP to cartpos. The result in jointpos
  int ret = iksolver.CartToJnt(currentJP, cartpos, jointpos);

  if (ret >= 0) {

    std::cout << " Current Joint Position: [";
    for(unsigned int ii=0; ii < this->num_joints_; ii++)
      std::cout << currentJP(ii) << " ";
    std::cout << "]"<< std::endl;

    std::cout << "Cartesian Position " << cartpos << std::endl;

    std::cout << "IK result Joint Position: [";
    for(unsigned int ii=0; ii < this->num_joints_; ii++)
      std::cout << jointpos(ii) << " ";
    std::cout << "]"<< std::endl;

    goal_in_joints.clear();
    goal_in_joints.resize(this->num_joints_);
    for(unsigned int ii=0; ii < this->num_joints_; ii++)
      goal_in_joints[ii] = jointpos(ii);

  } else {

    std::cout << "Error: could not calculate inverse kinematics :(" << std::endl;
    return false;

  }

  return true;
}