提交依赖与构建产物

2026-06-27 09:25:04 -04:00
parent 2817cba164
commit f0e96308d2
1300 changed files with 844236 additions and 0 deletions
--- a/kdl_install/include/kdl/chainiksolverpos_nr.hpp
+++ b/kdl_install/include/kdl/chainiksolverpos_nr.hpp
@@ -0,0 +1,97 @@
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// 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 KDLCHAINIKSOLVERPOS_NR_HPP
+#define KDLCHAINIKSOLVERPOS_NR_HPP
+
+#include "chainiksolver.hpp"
+#include "chainfksolver.hpp"
+
+namespace KDL {
+
+    /**
+     * Implementation of a general inverse position kinematics
+     * algorithm based on Newton-Raphson iterations to calculate the
+     * position transformation from Cartesian to joint space of a general
+     * KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverPos_NR : public ChainIkSolverPos
+    {
+    public:
+        static const int E_IKSOLVER_FAILED = -100; //! Child IK solver vel failed
+        static const int E_FKSOLVERPOS_FAILED = -101; //! Child FK solver failed
+
+        /**
+         * Constructor of the solver, it needs the chain, a forward
+         * position kinematics solver and an inverse velocity
+         * kinematics solver for that chain.
+         *
+         * @param chain the chain to calculate the inverse position for
+         * @param fksolver a forward position kinematics solver
+         * @param iksolver an inverse velocity kinematics solver
+         * @param maxiter the maximum Newton-Raphson iterations,
+         * default: 100
+         * @param eps the precision for the position, used to end the
+         * iterations, default: epsilon (defined in kdl.hpp)
+         *
+         * @return
+         */
+        ChainIkSolverPos_NR(const Chain& chain,ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,
+                            unsigned int maxiter=100,double eps=1e-6);
+        ~ChainIkSolverPos_NR();
+
+        /**
+         * Find an output joint pose \a q_out, given a starting joint pose
+         * \a q_init and a desired cartesian pose \a p_in
+         *
+         * @return:
+         *  E_NOERROR=solution converged to <eps in maxiter
+         *  E_DEGRADED=solution converged to <eps in maxiter, but solution is
+         *  degraded in quality (e.g. pseudo-inverse in iksolver is singular)
+         *  E_IKSOLVER_FAILED=velocity solver failed
+         *  E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)
+         */
+        virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
+
+        /// @copydoc KDL::SolverI::strError()
+        virtual const char* strError(const int error) const;
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+    private:
+        const Chain& chain;
+
+        unsigned int nj;
+        ChainIkSolverVel& iksolver;
+        ChainFkSolverPos& fksolver;
+        JntArray delta_q;
+        Frame f;
+        Twist delta_twist;
+
+        unsigned int maxiter;
+        double eps;
+    };
+
+}
+
+#endif