KDL

1. 下载

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

2.进入orocos_kdl目录，创建build目录，进入build目录
3.cmake ..
4.make
5.sudo make install

------------------------------------正解------------------------------------------

// Copyright (C) 2007  Francois Cauwe <francois at cauwe dot org>

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

#include <kdl/chain.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames_io.hpp>
#include <stdio.h>
#include <iostream>

using namespace KDL;


int main( int argc, char** argv )
{
    //Definition of a kinematic chain & add segments to the chain
    KDL::Chain chain;
    chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
    chain.addSegment(Segment(Joint(Joint::RotZ)));
    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
    chain.addSegment(Segment(Joint(Joint::RotZ)));

    // Create solver based on kinematic chain
    ChainFkSolverPos_recursive fksolver = ChainFkSolverPos_recursive(chain);

    // Create joint array
    unsigned int nj = chain.getNrOfJoints();
    KDL::JntArray jointpositions = JntArray(nj);

    // Assign some values to the joint positions
    for(unsigned int i=0;i<nj;i++){
        float myinput;
        printf ("Enter the position of joint %i: ",i);
        scanf ("%e",&myinput);
        jointpositions(i)=(double)myinput;
    }

    // Create the frame that will contain the results
    KDL::Frame cartpos;

    // Calculate forward position kinematics
    bool kinematics_status;
    kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
    if(kinematics_status>=0){
        std::cout << cartpos <<std::endl;
        printf("%s \n","Succes, thanks KDL!");
    }else{
        printf("%s \n","Error: could not calculate forward kinematics :(");
    }
}

-----------------------------------------逆解-------------------------------------------

//Creation of the chain:
KDL::Chain chain;
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
chain.addSegment(Segment(Joint(Joint::RotZ)));

//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain1);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain1);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain1,fksolver1,iksolver1v,100,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6

//Creation of jntarrays:
JntArray q(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());

//Set destination frame
Frame F_dest=...;

int ret = iksolverpos.CartToJnt(q_init,F_dest,q);