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Added #define-based namespaces to prevent linking errors. #355

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Added #define-based namespaces to prevent linking errors. #355

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532123f
Added #define-based namespaces to prevent linking errors.
a-price Jun 8, 2018
d3819f1
Added missing-#define error to enforce model specification by the user.
a-price Jul 11, 2018
4fec2b6
Advanced package version on ABI-breaking change.
a-price Jul 11, 2018
9a06798
Merge remote-tracking branch 'origin/kinetic-devel' into kinematics_n…
a-price Jul 11, 2018
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22 changes: 18 additions & 4 deletions ur_kinematics/include/ur_kinematics/ur_kin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,18 @@
#ifndef UR_KIN_H
#define UR_KIN_H

#ifdef UR10_PARAMS
#define UR_NAMESPACE ur10
#endif

#ifdef UR5_PARAMS
#define UR_NAMESPACE ur5
#endif

#ifdef UR3_PARAMS
#define UR_NAMESPACE ur3
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This approach will require users to always define one of these options before including the header. We could approximate the original behavior by doing this instead:

#ifdef UR10_PARAMS
#define UR_NAMESPACE ur10
#elif UR5_PARAMS
#define UR_NAMESPACE ur5
#else
#define UR_NAMESPACE ur3
#endif

Using the approach in this PR, users will get a crytpic linking error if they neglect to specify one of these options.

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Agreed. It does slightly privilege the UR3, but that's probably fine.

#endif

// These kinematics find the tranfrom from the base link to the end effector.
// Though the raw D-H parameters specify a transform from the 0th link to the 6th link,
// offset transforms are specified in this formulation.
Expand All @@ -56,13 +68,14 @@
// 0, 0, 0, 1

namespace ur_kinematics {
// @param q The 6 joint values
namespace UR_NAMESPACE {
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If we make this an inline namespace, then we can keep API compatibility the same, so people don't need to add this extra namespace to their function calls.

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Interesting idea. I wasn't familiar with inline namespace.

// @param q The 6 joint values
// @param T The 4x4 end effector pose in row-major ordering
void forward(const double* q, double* T);

// @param q The 6 joint values
// @param q The 6 joint values
// @param Ti The 4x4 link i pose in row-major ordering. If NULL, nothing is stored.
void forward_all(const double* q, double* T1, double* T2, double* T3,
void forward_all(const double* q, double* T1, double* T2, double* T3,
double* T4, double* T5, double* T6);

// @param T The 4x4 end effector pose in row-major ordering
Expand All @@ -71,6 +84,7 @@ namespace ur_kinematics {
// in case of an infinite solution on that joint.
// @return Number of solutions found (maximum of 8)
int inverse(const double* T, double* q_sols, double q6_des=0.0);
};
}
}

#endif //UR_KIN_H
11 changes: 7 additions & 4 deletions ur_kinematics/src/ur_kin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@ namespace ur_kinematics {
#endif
}

namespace UR_NAMESPACE {

void forward(const double* q, double* T) {
double s1 = sin(*q), c1 = cos(*q); q++;
double q234 = *q, s2 = sin(*q), c2 = cos(*q); q++;
Expand Down Expand Up @@ -348,6 +350,7 @@ namespace ur_kinematics {
}
return num_sols;
}
}
};


Expand Down Expand Up @@ -397,7 +400,7 @@ IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkRe

to_mat44(T, eetrans, eerot);

int num_sols = ur_kinematics::inverse(T, q_sols,pfree[0]);
int num_sols = ur_kinematics::UR_NAMESPACE::inverse(T, q_sols,pfree[0]);

std::vector<int> vfree(0);

Expand All @@ -412,7 +415,7 @@ IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkRe
IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot)
{
double T[16];
ur_kinematics::forward(j,T);
ur_kinematics::UR_NAMESPACE::forward(j,T);
from_mat44(T,eetrans,eerot);
}

Expand All @@ -435,15 +438,15 @@ int main(int argc, char* argv[])
{
double q[6] = {0.0, 0.0, 1.0, 0.0, 1.0, 0.0};
double* T = new double[16];
forward(q, T);
UR_NAMESPACE::forward(q, T);
for(int i=0;i<4;i++) {
for(int j=i*4;j<(i+1)*4;j++)
printf("%1.3f ", T[j]);
printf("\n");
}
double q_sols[8*6];
int num_sols;
num_sols = inverse(T, q_sols);
num_sols = UR_NAMESPACE::inverse(T, q_sols);
for(int i=0;i<num_sols;i++)
printf("%1.6f %1.6f %1.6f %1.6f %1.6f %1.6f\n",
q_sols[i*6+0], q_sols[i*6+1], q_sols[i*6+2], q_sols[i*6+3], q_sols[i*6+4], q_sols[i*6+5]);
Expand Down
4 changes: 2 additions & 2 deletions ur_kinematics/src/ur_moveit_plugin.cpp
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Expand Up @@ -647,8 +647,8 @@ bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
/////////////////////////////////////////////////////////////////////////////

// Do the analytic IK
num_sols = inverse((double*) homo_ik_pose, (double*) q_ik_sols,
jnt_pos_test(ur_joint_inds_start_+5));
num_sols = UR_NAMESPACE::inverse((double*) homo_ik_pose, (double*) q_ik_sols,
jnt_pos_test(ur_joint_inds_start_+5));


uint16_t num_valid_sols;
Expand Down