Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/KDL/install/include/kdl/treeiksolverpos_online.hpp
+++ b/KDL/install/include/kdl/treeiksolverpos_online.hpp
@@ -0,0 +1,108 @@
+// 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 proportional 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 proportional 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 */
+