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Use a dynamic library instead of header-only (#21)
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| // Copyright (c) 2022, PickNik, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // | ||
| /// \author: Andy Zelenak, Paul Gesel | ||
| /// \description: Base class for kinematics interface | ||
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| #include "kinematics_interface/kinematics_interface.hpp" | ||
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| namespace kinematics_interface | ||
| { | ||
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| rclcpp::Logger LOGGER = rclcpp::get_logger("kinematics_interface"); | ||
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| bool KinematicsInterface::convert_cartesian_deltas_to_joint_deltas( | ||
| std::vector<double> & joint_pos_vec, const std::vector<double> & delta_x_vec, | ||
| const std::string & link_name, std::vector<double> & delta_theta_vec) | ||
| { | ||
| auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size()); | ||
| auto delta_x = Eigen::Map<const Eigen::VectorXd>(delta_x_vec.data(), delta_x_vec.size()); | ||
| // TODO(anyone): heap allocation should be removed for realtime use | ||
| Eigen::VectorXd delta_theta = | ||
| Eigen::Map<Eigen::VectorXd>(delta_theta_vec.data(), delta_theta_vec.size()); | ||
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| bool ret = convert_cartesian_deltas_to_joint_deltas(joint_pos, delta_x, link_name, delta_theta); | ||
| for (auto i = 0ul; i < delta_theta_vec.size(); i++) | ||
| { | ||
| delta_theta_vec[i] = delta_theta[i]; | ||
| } | ||
| return ret; | ||
| } | ||
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| bool KinematicsInterface::convert_joint_deltas_to_cartesian_deltas( | ||
| const std::vector<double> & joint_pos_vec, const std::vector<double> & delta_theta_vec, | ||
| const std::string & link_name, std::vector<double> & delta_x_vec) | ||
| { | ||
| auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size()); | ||
| Eigen::VectorXd delta_theta = | ||
| Eigen::Map<const Eigen::VectorXd>(delta_theta_vec.data(), delta_theta_vec.size()); | ||
| if (delta_x_vec.size() != 6) | ||
| { | ||
| RCLCPP_ERROR( | ||
| LOGGER, "The length of the cartesian delta vector (%zu) must be 6.", delta_x_vec.size()); | ||
| return false; | ||
| } | ||
| Eigen::Matrix<double, 6, 1> delta_x(delta_x_vec.data()); | ||
| bool ret = convert_joint_deltas_to_cartesian_deltas(joint_pos, delta_theta, link_name, delta_x); | ||
| for (auto i = 0ul; i < delta_x_vec.size(); i++) | ||
| { | ||
| delta_x_vec[i] = delta_x[i]; | ||
| } | ||
| return ret; | ||
| } | ||
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| bool KinematicsInterface::calculate_link_transform( | ||
| const std::vector<double> & joint_pos_vec, const std::string & link_name, | ||
| Eigen::Isometry3d & transform) | ||
| { | ||
| auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size()); | ||
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| return calculate_link_transform(joint_pos, link_name, transform); | ||
| } | ||
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| bool KinematicsInterface::calculate_jacobian( | ||
| const std::vector<double> & joint_pos_vec, const std::string & link_name, | ||
| Eigen::Matrix<double, 6, Eigen::Dynamic> & jacobian) | ||
| { | ||
| auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size()); | ||
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| return calculate_jacobian(joint_pos, link_name, jacobian); | ||
| } | ||
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| } // namespace kinematics_interface |