1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184

use na::{Isometry3, Real};

use links::*;
use joints::*;
use traits::*;
use errors::*;

/// Robot representation with set of `VecKinematicChain`s
///
/// This contains multiple `VecKinematicChain`.
/// The frames must be serial without branch.
/// root is the only link which has branch.
#[derive(Debug, Clone)]
pub struct LinkStar<T: Real> {
    pub name: String,
    pub frames: Vec<VecKinematicChain<T>>,
    transform: Isometry3<T>,
}

impl<T> LinkStar<T>
where
    T: Real,
{
    pub fn new(name: &str, frames: Vec<VecKinematicChain<T>>) -> LinkStar<T> {
        LinkStar {
            name: name.to_string(),
            frames: frames,
            transform: Isometry3::identity(),
        }
    }
    pub fn set_transform(&mut self, transform: Isometry3<T>) {
        self.transform = transform;
    }
    pub fn get_transform(&self) -> Isometry3<T> {
        self.transform
    }
}

impl<T> LinkContainer<T> for LinkStar<T>
where
    T: Real,
{
    fn calc_link_transforms(&self) -> Vec<Isometry3<T>> {
        let transforms = self.frames
            .iter()
            .map(|lf| {
                lf.calc_link_transforms()
                    .iter()
                    .map(|&tf| self.transform * tf)
                    .collect()
            })
            .collect::<Vec<Vec<_>>>();
        let mut ret = Vec::new();
        for mut v in transforms {
            ret.append(&mut v);
        }
        ret
    }
    fn get_link_names(&self) -> Vec<String> {
        let names = self.frames
            .iter()
            .map(|lf| lf.get_link_names())
            .collect::<Vec<_>>();
        let mut ret = Vec::new();
        for mut v in names {
            ret.append(&mut v);
        }
        ret
    }
}

/// Set of Joint and Link
///
/// imagine below structure
///
/// `[transform] -> joint_with_links([[joint] -> [Link]] -> [[joint] -> [Link]] -> ...)`
///
/// The order must be ordered.
///
/// - start from root link
/// - end with last link
#[derive(Debug, Clone)]
pub struct VecKinematicChain<T: Real> {
    pub name: String,
    pub joint_with_links: Vec<Link<T>>,
    pub transform: Isometry3<T>,
}

impl<T> VecKinematicChain<T>
where
    T: Real,
{
    pub fn new(name: &str, joint_with_links: Vec<Link<T>>) -> VecKinematicChain<T> {
        VecKinematicChain {
            name: name.to_string(),
            joint_with_links: joint_with_links,
            transform: Isometry3::identity(),
        }
    }
    pub fn len(&self) -> usize {
        self.joint_with_links.len()
    }
    pub fn is_empty(&self) -> bool {
        self.joint_with_links.is_empty()
    }
}

impl<T> LinkContainer<T> for VecKinematicChain<T>
where
    T: Real,
{
    /// returns transforms of links
    fn calc_link_transforms(&self) -> Vec<Isometry3<T>> {
        self.joint_with_links
            .iter()
            .scan(self.transform, |base, lj| {
                *base *= lj.calc_transform();
                Some(*base)
            })
            .collect()
    }
    fn get_link_names(&self) -> Vec<String> {
        self.joint_with_links
            .iter()
            .map(|lj| lj.name.to_owned())
            .collect()
    }
}

impl<T> KinematicChain<T> for VecKinematicChain<T>
where
    T: Real,
{
    fn calc_end_transform(&self) -> Isometry3<T> {
        self.joint_with_links.iter().fold(
            self.transform,
            |trans, lj| {
                trans * lj.calc_transform()
            },
        )
    }
}

impl<T> JointContainer<T> for VecKinematicChain<T>
where
    T: Real,
{
    /// if failed, joints angles are non determined,
    fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError> {
        // TODO: is it possible to cache the joint_with_angle to speed up?
        let mut joints_with_angle = self.joint_with_links
            .iter_mut()
            .filter(|lj| lj.has_joint_angle())
            .collect::<Vec<_>>();
        if joints_with_angle.len() != angles.len() {
            return Err(JointError::SizeMisMatch);
        }
        for (i, lj) in joints_with_angle.iter_mut().enumerate() {
            try!(lj.set_joint_angle(angles[i]));
        }
        Ok(())
    }

    fn get_joint_angles(&self) -> Vec<T> {
        self.joint_with_links
            .iter()
            .filter_map(|joint_with_link| joint_with_link.get_joint_angle())
            .collect()
    }
    fn get_joint_limits(&self) -> Vec<Option<Range<T>>> {
        self.joint_with_links
            .iter()
            .map(|joint_with_link| joint_with_link.joint.limits.clone())
            .collect()
    }
    fn get_joint_names(&self) -> Vec<String> {
        self.joint_with_links
            .iter()
            .map(|joint_with_link| {
                joint_with_link.get_joint_name().to_string()
            })
            .collect()
    }
}