376 lines
11 KiB
C
376 lines
11 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Dalibor Matura, Jia Pan */
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#ifndef FCL_ARTICULATED_MODEL_JOINT_H
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#define FCL_ARTICULATED_MODEL_JOINT_H
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#include "fcl/common/data_types.h"
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#include <string>
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#include <vector>
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#include <map>
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#include <limits>
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#include <memory>
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namespace fcl
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{
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class JointConfig;
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class Link;
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enum JointType {JT_UNKNOWN, JT_PRISMATIC, JT_REVOLUTE, JT_BALLEULER};
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/// @brief Base Joint
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template <typename S>
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class Joint
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{
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public:
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Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name);
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Joint(const std::string& name);
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virtual ~Joint() {}
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const std::string& getName() const;
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void setName(const std::string& name);
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virtual Transform3<S> getLocalTransform() const = 0;
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virtual std::size_t getNumDofs() const = 0;
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std::shared_ptr<JointConfig> getJointConfig() const;
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void setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg);
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std::shared_ptr<Link> getParentLink() const;
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std::shared_ptr<Link> getChildLink() const;
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void setParentLink(const std::shared_ptr<Link>& link);
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void setChildLink(const std::shared_ptr<Link>& link);
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JointType getJointType() const;
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const Transform3<S>& getTransformToParent() const;
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void setTransformToParent(const Transform3<S>& t);
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protected:
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/// links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
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std::weak_ptr<Link> link_parent_, link_child_;
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JointType type_;
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std::string name_;
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std::shared_ptr<JointConfig> joint_cfg_;
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Transform3<S> transform_to_parent_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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template <typename S>
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class PrismaticJoint : public Joint
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{
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public:
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PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name,
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const Vector3<S>& axis);
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virtual ~PrismaticJoint() {}
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Transform3<S> getLocalTransform() const;
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std::size_t getNumDofs() const;
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const Vector3<S>& getAxis() const;
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protected:
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Vector3<S> axis_;
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};
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template <typename S>
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class RevoluteJoint : public Joint
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{
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public:
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RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name,
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const Vector3<S>& axis);
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virtual ~RevoluteJoint() {}
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Transform3<S> getLocalTransform() const;
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std::size_t getNumDofs() const;
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const Vector3<S>& getAxis() const;
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protected:
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Vector3<S> axis_;
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};
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template <typename S>
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class BallEulerJoint : public Joint
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{
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public:
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BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name);
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virtual ~BallEulerJoint() {}
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std::size_t getNumDofs() const;
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Transform3<S> getLocalTransform() const;
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};
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//============================================================================//
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// //
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// Implementations //
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// //
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//============================================================================//
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//==============================================================================
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template <typename S>
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Joint<S>::Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name) :
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link_parent_(link_parent), link_child_(link_child),
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name_(name),
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transform_to_parent_(transform_to_parent)
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{}
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//==============================================================================
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template <typename S>
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Joint<S>::Joint(const std::string& name) :
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name_(name)
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{
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}
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//==============================================================================
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template <typename S>
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const std::string& Joint<S>::getName() const
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{
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return name_;
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}
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//==============================================================================
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template <typename S>
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void Joint<S>::setName(const std::string& name)
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{
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name_ = name;
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}
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//==============================================================================
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template <typename S>
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std::shared_ptr<JointConfig> Joint<S>::getJointConfig() const
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{
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return joint_cfg_;
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}
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//==============================================================================
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template <typename S>
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void Joint<S>::setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg)
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{
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joint_cfg_ = joint_cfg;
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}
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//==============================================================================
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template <typename S>
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std::shared_ptr<Link> Joint<S>::getParentLink() const
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{
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return link_parent_.lock();
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}
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//==============================================================================
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template <typename S>
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std::shared_ptr<Link> Joint<S>::getChildLink() const
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{
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return link_child_.lock();
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}
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//==============================================================================
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template <typename S>
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void Joint<S>::setParentLink(const std::shared_ptr<Link>& link)
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{
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link_parent_ = link;
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}
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//==============================================================================
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template <typename S>
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void Joint<S>::setChildLink(const std::shared_ptr<Link>& link)
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{
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link_child_ = link;
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}
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//==============================================================================
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template <typename S>
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JointType Joint<S>::getJointType() const
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{
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return type_;
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}
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//==============================================================================
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template <typename S>
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const Transform3<S>& Joint<S>::getTransformToParent() const
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{
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return transform_to_parent_;
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}
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//==============================================================================
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template <typename S>
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void Joint<S>::setTransformToParent(const Transform3<S>& t)
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{
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transform_to_parent_ = t;
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}
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//==============================================================================
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template <typename S>
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PrismaticJoint<S>::PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name,
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const Vector3<S>& axis) :
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Joint(link_parent, link_child, transform_to_parent, name),
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axis_(axis)
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{
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type_ = JT_PRISMATIC;
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}
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//==============================================================================
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template <typename S>
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const Vector3<S>& PrismaticJoint<S>::getAxis() const
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{
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return axis_;
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}
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//==============================================================================
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template <typename S>
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std::size_t PrismaticJoint<S>::getNumDofs() const
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{
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return 1;
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}
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//==============================================================================
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template <typename S>
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Transform3<S> PrismaticJoint<S>::getLocalTransform() const
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{
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const Quaternion<S> quat(transform_to_parent_.linear());
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const Vector3<S>& transl = transform_to_parent_.translation();
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Transform3<S> tf = Transform3<S>::Identity();
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tf.linear() = quat.toRotationMatrix();
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tf.translation() = quat * (axis_ * (*joint_cfg_)[0]) + transl;
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return tf;
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}
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//==============================================================================
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template <typename S>
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RevoluteJoint<S>::RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name,
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const Vector3<S>& axis) :
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Joint(link_parent, link_child, transform_to_parent, name),
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axis_(axis)
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{
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type_ = JT_REVOLUTE;
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}
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//==============================================================================
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template <typename S>
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const Vector3<S>& RevoluteJoint<S>::getAxis() const
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{
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return axis_;
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}
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//==============================================================================
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template <typename S>
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std::size_t RevoluteJoint<S>::getNumDofs() const
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{
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return 1;
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}
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//==============================================================================
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template <typename S>
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Transform3<S> RevoluteJoint<S>::getLocalTransform() const
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{
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Transform3<S> tf = Transform3<S>::Identity();
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tf.linear() = transform_to_parent_.linear() * AngleAxis<S>((*joint_cfg_)[0], axis_);
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tf.translation() = transform_to_parent_.translation();
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return tf;
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}
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//==============================================================================
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template <typename S>
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BallEulerJoint<S>::BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
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const Transform3<S>& transform_to_parent,
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const std::string& name) :
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Joint(link_parent, link_child, transform_to_parent, name)
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{}
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//==============================================================================
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template <typename S>
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std::size_t BallEulerJoint<S>::getNumDofs() const
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{
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return 3;
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}
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//==============================================================================
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template <typename S>
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Transform3<S> BallEulerJoint<S>::getLocalTransform() const
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{
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Matrix3<S> rot(
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AngleAxis<S>((*joint_cfg_)[0], Eigen::Vector3<S>::UnitX())
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* AngleAxis<S>((*joint_cfg_)[1], Eigen::Vector3<S>::UnitY())
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* AngleAxis<S>((*joint_cfg_)[2], Eigen::Vector3<S>::UnitZ()));
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Transform3<S> tf = Transform3<S>::Identity();
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tf.linear() = rot;
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return transform_to_parent_ * tf;
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}
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} // namespace fcl
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#endif
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