/usr/include/kdl/treeiksolverpos_online.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 | // Copyright (C) 2011 PAL Robotics S.L. All rights reserved.
// Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright (C) 2008 Mikael Mayer
// Copyright (C) 2008 Julia Jesse
// Version: 1.0
// Author: Marcus Liebhardt
// This class has been derived from the KDL::TreeIkSolverPos_NR_JL class
// by Julia Jesse, Mikael Mayer and Ruben Smits
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP
#define KDLTREEIKSOLVERPOS_ONLINE_HPP
#include <vector>
#include <string>
#include "treeiksolver.hpp"
#include "treefksolver.hpp"
namespace KDL {
/**
* Implementation of a general inverse position kinematics algorithm to calculate the position transformation from
* Cartesian to joint space of a general KDL::Tree. This class has been derived from the TreeIkSolverPos_NR_JL class,
* but was modified for online solving for use in realtime systems. Thus, the calculation is only done once,
* meaning that no iteration is done, because this solver is intended to run at a high frequency.
* It enforces velocity limits in task as well as in joint space. It also takes joint limits into account.
*
* @ingroup KinematicFamily
*/
class TreeIkSolverPos_Online: public TreeIkSolverPos {
public:
/**
* Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints
* you are interested in, the maximum and minimum values you want to enforce and a forward position kinematics
* solver as well as an inverse velocity kinematics solver for the calculations
*
* @param nr_of_jnts number of joints of the tree to calculate the joint positions for
* @param endpoints the list of endpoints you are interested in
* @param q_min the minimum joint positions
* @param q_max the maximum joint positions
* @param q_dot_max the maximum joint velocities
* @param x_dot_trans_max the maximum translational velocity of your endpoints
* @param x_dot_rot_max the maximum rotational velocity of your endpoints
* @param fksolver a forward position kinematics solver
* @param iksolver an inverse velocity kinematics solver
*
* @return
*/
TreeIkSolverPos_Online(const double& nr_of_jnts,
const std::vector<std::string>& endpoints,
const JntArray& q_min,
const JntArray& q_max,
const JntArray& q_dot_max,
const double x_dot_trans_max,
const double x_dot_rot_max,
TreeFkSolverPos& fksolver,
TreeIkSolverVel& iksolver);
~TreeIkSolverPos_Online();
virtual double CartToJnt(const JntArray& q_in, const Frames& p_in, JntArray& q_out);
private:
/**
* Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum value.
* Scaling is done propotional to the biggest overshoot among all joint velocities.
*/
void enforceJointVelLimits();
/**
* Scales translational and rotational velocity vectors of the class member KDL::Twist twist_,
* if at least one of both exceeds the maximum value/length.
* Scaling is done propotional to the biggest overshoot among both velocities.
*/
void enforceCartVelLimits();
JntArray q_min_;
JntArray q_max_;
JntArray q_dot_max_;
double x_dot_trans_max_;
double x_dot_rot_max_;
TreeFkSolverPos& fksolver_;
TreeIkSolverVel& iksolver_;
JntArray q_dot_;
Twist twist_;
Frames frames_;
Twists delta_twists_;
};
} // namespace
#endif /* KDLTREEIKSOLVERPOS_ONLINE_HPP */
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