Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[11420] pkg/trunk (Page 27)

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Revision: 11420
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=11420&view=rev
Author:   isucan
Date:     2009-02-19 22:36:52 +0000 (Thu, 19 Feb 2009)

Log Message:
-----------
adding IKKPIECE

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPModel.h
    pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
    pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
    pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/pr2_groups.xml
    pkg/trunk/world_models/robot_models/planning_models/include/planning_models/kinematic.h

Modified: pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPModel.h
===================================================================

--- pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPModel.h	2009-02-19 22:31:23 UTC (rev 11419)
+++ pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPModel.h	2009-02-19 22:36:52 UTC (rev 11420)
@@ -45,6 +45,7 @@
 #include "kinematic_planning/RKPESTSetup.h"
 #include "kinematic_planning/RKPIKSBLSetup.h"
 #include "kinematic_planning/RKPKPIECESetup.h"
+#include "kinematic_planning/RKPIKKPIECESetup.h"
 
 #include <string>
 #include <map>
@@ -119,6 +120,17 @@
 	    else
 		delete kpiece;
 	}
+
+	
+	void addIKKPIECE(std::map<std::string, std::string> &options)
+	{
+	    RKPPlannerSetup *kpiece = new RKPIKKPIECESetup();
+	    if (kpiece->setup(dynamic_cast<RKPModelBase*>(this), options))
+		planners[kpiece->name] = kpiece;
+	    else
+		delete kpiece;
+	}
+
 	std::map<std::string, RKPPlannerSetup*> planners;
     };
     

Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-02-19 22:31:23 UTC (rev 11419)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-02-19 22:36:52 UTC (rev 11420)
@@ -766,6 +766,14 @@
 	    options = data.getMapTagValues("planning", "KPIECE");
 	}
 	model->addKPIECE(options); 
+
+	options.clear();
+	if (group)
+	{
+	    const robot_desc::URDF::Map &data = group->data;
+	    options = data.getMapTagValues("planning", "IKKPIECE");
+	}
+	model->addIKKPIECE(options); 
     }
     
     ModelMap                                                        m_models;

Modified: pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2009-02-19 22:31:23 UTC (rev 11419)
+++ pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp	2009-02-19 22:36:52 UTC (rev 11420)
@@ -125,7 +125,7 @@
 	
 	req.params.model_id = GROUPNAME;
 	req.params.distance_metric = "L2Square";
-	req.params.planner_id = "IKSBL";
+	req.params.planner_id = "IKKPIECE";
 	req.interpolate = 1;
 	req.times = 1;
 

Modified: pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/pr2_groups.xml
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/pr2_groups.xml	2009-02-19 22:31:23 UTC (rev 11419)
+++ pkg/trunk/robot_descriptions/pr2/pr2_defs/robots/pr2_groups.xml	2009-02-19 22:36:52 UTC (rev 11420)
@@ -92,6 +92,11 @@
       <elem key="celldim" value="0.1 0.1 0.1"/>
     </map>
 
+    <map name="IKKPIECE" flag="planning">
+      <elem key="projection" value="link r_wrist_roll_link" />
+      <elem key="celldim" value="0.1 0.1 0.1"/>
+    </map>
+
     <map name="IKSBL" flag="planning">
       <elem key="projection" value="0 1"/>
       <elem key="celldim" value="1 1"/>

Modified: pkg/trunk/world_models/robot_models/planning_models/include/planning_models/kinematic.h
===================================================================
--- pkg/trunk/world_models/robot_models/planning_models/include/planning_models/kinematic.h	2009-02-19 22:31:23 UTC (rev 11419)
+++ pkg/trunk/world_models/robot_models/planning_models/include/planning_models/kinematic.h	2009-02-19 22:36:52 UTC (rev 11420)
@@ -659,8 +659,13 @@
 	/** Returns the dimension of the group (as a state, not number of joints) */
 	unsigned int getGroupDimension(const std::string &name) const;
 
+	/** Bring the robot to a default state */
 	void defaultState(void);
+
+	/** Apply the transforms to a group, based on the params */
 	void computeTransformsGroup(const double *params, int groupID);
+
+	/** Apply the transforms to the entire robot, based on the params */
 	void computeTransforms(const double *params);
 	
 	/** Add thansforms to the rootTransform such that the robot is in its planar/floating link frame */


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[11420] pkg/trunk (Page 27)

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