[Personalrobots-commit] SF.net SVN: personalrobots:[18588] pkg/trunk

[<mee...@us...>]

Revision: 18588
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18588&view=rev
Author:   meeussen
Date:     2009-07-09 21:09:50 +0000 (Thu, 09 Jul 2009)

Log Message:
-----------
joint and link names are now stored inside kdl tree

Modified Paths:
--------------
    pkg/trunk/calibration/kinematic_calibration/src/chain_modifier.cpp
    pkg/trunk/calibration/kinematic_calibration/src/unittest_io.cpp
    pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/plug_controller.cpp
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner/src/discrete_space_information/robarm3d/environment_robarm3d.cpp

Modified: pkg/trunk/calibration/kinematic_calibration/src/chain_modifier.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/chain_modifier.cpp	2009-07-09 21:09:06 UTC (rev 18587)
+++ pkg/trunk/calibration/kinematic_calibration/src/chain_modifier.cpp	2009-07-09 21:09:50 UTC (rev 18588)
@@ -74,7 +74,7 @@
   KDL::Frame f_tip = segment.getFrameToTip() ;
   f_tip.p = f_tip.p + trans_ ;
   f_tip.M = f_tip.M * rot_ ;
-  segment = KDL::Segment(segment.getJoint(), f_tip, segment.getInertia()) ;
+  segment = KDL::Segment(segment.getName(), segment.getJoint(), f_tip, segment.getInertia()) ;
 }
 
 int ChainModifier::specifyAllParams(const NEWMAT::Matrix& all_params)

Modified: pkg/trunk/calibration/kinematic_calibration/src/unittest_io.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/unittest_io.cpp	2009-07-09 21:09:06 UTC (rev 18587)
+++ pkg/trunk/calibration/kinematic_calibration/src/unittest_io.cpp	2009-07-09 21:09:50 UTC (rev 18588)
@@ -74,12 +74,12 @@
       break ;
 
     // Now add the data to the chain
-    Joint J(Joint::RotZ) ;
+    Joint J("Joint 1",Joint::RotZ) ;
     Vector rot_axis(model[3], model[4], model[5]) ;           // KDL doesn't need vector to be normalized. It even behaves nicely with vector=[0 0 0]
     double rot_ang = rot_axis.Norm() ;
     Rotation R(Rotation::Rot(rot_axis, rot_ang)) ;
     Vector trans(model[0], model[1], model[2]) ;
-    chain.addSegment(Segment(J, Frame(R, trans))) ;
+    chain.addSegment(Segment("Segment 1", J, Frame(R, trans))) ;
   }
 
   return chain ;

Modified: pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
===================================================================
--- pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp	2009-07-09 21:09:06 UTC (rev 18587)
+++ pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp	2009-07-09 21:09:50 UTC (rev 18588)
@@ -111,7 +111,7 @@
     mech_chain.toKDL(chain_);
 
     // Add the 'range' joint
-    chain_.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::TransX))) ;
+    chain_.addSegment(KDL::Segment("RangeSegment", KDL::Joint("RangeJoint", KDL::Joint::TransX))) ;
 
     if (chain_.getNrOfJoints() != 3)
       ROS_ERROR("Num joints doesn't seem right") ;

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/plug_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/plug_controller.cpp	2009-07-09 21:09:06 UTC (rev 18587)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/plug_controller.cpp	2009-07-09 21:09:50 UTC (rev 18588)
@@ -339,7 +339,7 @@
 
   KDL::Frame tool_frame;
   tf::TransformTFToKDL(tool_offset, tool_frame);
-  new_kdl_chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::None), tool_frame));
+  new_kdl_chain.addSegment(KDL::Segment("ToolOffset", KDL::Joint("ToolOffset", KDL::Joint::None), tool_frame));
 
   kdl_chain_ = new_kdl_chain;
 

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner/src/discrete_space_information/robarm3d/environment_robarm3d.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner/src/discrete_space_information/robarm3d/environment_robarm3d.cpp	2009-07-09 21:09:06 UTC (rev 18587)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner/src/discrete_space_information/robarm3d/environment_robarm3d.cpp	2009-07-09 21:09:50 UTC (rev 18588)
@@ -3921,15 +3921,13 @@
 bool EnvironmentROBARM3D::InitKDLChain(const char *fKDL)
 {
   KDL::Tree my_tree;
-  std::map<string, string> segment_joint_mapping;
-  if (!treeFromString(fKDL, my_tree, segment_joint_mapping))
+  if (!treeFromString(fKDL, my_tree))
   {
     printf("Failed to parse tree from manipulator description file.\n");
     return false;;
   }
 
-  std::vector<std::string> links;
-  if (!my_tree.getChain("torso_lift_link", "r_wrist_roll_link", EnvROBARMCfg.arm_chain, links))
+  if (!my_tree.getChain("torso_lift_link", "r_wrist_roll_link", EnvROBARMCfg.arm_chain))
   {
     printf("Error: could not fetch the KDL chain for the desired manipulator. Exiting.\n"); 
     return false;


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