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/treeiksolverpos_nr_jl.hpp
+++ b/kdl_install/include/kdl/treeiksolverpos_nr_jl.hpp
@@ -0,0 +1,84 @@
+// 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: 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 KDLTREEIKSOLVERPOS_NR_JL_HPP
+#define KDLTREEIKSOLVERPOS_NR_JL_HPP
+
+#include "treeiksolver.hpp"
+#include "treefksolver.hpp"
+#include <vector>
+#include <string>
+
+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::Tree. Takes joint limits into account.
+ *
+ * @ingroup KinematicFamily
+ */
+class TreeIkSolverPos_NR_JL: public TreeIkSolverPos {
+public:
+    /**
+     * Constructor of the solver, it needs the tree, a forward
+     * position kinematics solver and an inverse velocity
+     * kinematics solver for that tree, and a list of the segments you are interested in.
+     *
+     * @param tree the tree to calculate the inverse position for
+     * @param endpoints the list of endpoints you are interested in.
+     * @param q_max the maximum joint positions
+     * @param q_min the minimum joint positions
+     * @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
+     */
+    TreeIkSolverPos_NR_JL(const Tree& tree, const std::vector<std::string>& endpoints, const JntArray& q_min, const JntArray& q_max, TreeFkSolverPos& fksolver,TreeIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
+    ~TreeIkSolverPos_NR_JL();
+
+    virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);
+
+private:
+    const Tree tree;
+    JntArray q_min;
+    JntArray q_max;
+    TreeIkSolverVel& iksolver;
+    TreeFkSolverPos& fksolver;
+    JntArray delta_q;
+    Frames frames;
+    Twists delta_twists;
+    std::vector<std::string> endpoints;
+    
+    unsigned int maxiter;
+    double eps;
+};
+
+}
+
+#endif