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Diffstat (limited to 'intern/iksolver/intern/MT_ExpMap.h')
| -rw-r--r-- | intern/iksolver/intern/MT_ExpMap.h | 213 |
1 files changed, 0 insertions, 213 deletions
diff --git a/intern/iksolver/intern/MT_ExpMap.h b/intern/iksolver/intern/MT_ExpMap.h deleted file mode 100644 index 65bbe4d4ad5..00000000000 --- a/intern/iksolver/intern/MT_ExpMap.h +++ /dev/null @@ -1,213 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Original author: Laurence - * Contributor(s): Brecht - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file iksolver/intern/MT_ExpMap.h - * \ingroup iksolver - */ - - -#ifndef MT_ExpMap_H -#define MT_ExpMap_H - -#include <MT_assert.h> - -#include "MT_Vector3.h" -#include "MT_Quaternion.h" -#include "MT_Matrix4x4.h" - -const MT_Scalar MT_EXPMAP_MINANGLE (1e-7); - -/** - * MT_ExpMap an exponential map parameterization of rotations - * in 3D. This implementation is derived from the paper - * "F. Sebastian Grassia. Practical parameterization of - * rotations using the exponential map. Journal of Graphics Tools, - * 3(3):29-48, 1998" Please go to http://www.acm.org/jgt/papers/Grassia98/ - * for a thorough description of the theory and sample code used - * to derive this class. - * - * Basic overview of why this class is used. - * In an IK system we need to paramterize the joint angles in some - * way. Typically 2 parameterizations are used. - * - Euler Angles - * These suffer from singularities in the parameterization known - * as gimbal lock. They also do not interpolate well. For every - * set of euler angles there is exactly 1 corresponding 3d rotation. - * - Quaternions. - * Great for interpolating. Only unit quaternions are valid rotations - * means that in a differential ik solver we often stray outside of - * this manifold into invalid rotations. Means we have to do a lot - * of nasty normalizations all the time. Does not suffer from - * gimbal lock problems. More expensive to compute partial derivatives - * as there are 4 of them. - * - * So exponential map is similar to a quaternion axis/angle - * representation but we store the angle as the length of the - * axis. So require only 3 parameters. Means that all exponential - * maps are valid rotations. Suffers from gimbal lock. But it's - * possible to detect when gimbal lock is near and reparameterize - * away from it. Also nice for interpolating. - * Exponential maps are share some of the useful properties of - * euler and quaternion parameterizations. And are very useful - * for differential IK solvers. - */ - -class MT_ExpMap { -public: - - /** - * Default constructor - * @warning there is no initialization in the - * default constructor - */ - - MT_ExpMap() {} - MT_ExpMap(const MT_Vector3& v) : m_v(v) { angleUpdated(); } - - MT_ExpMap(const float v[3]) : m_v(v) { angleUpdated(); } - MT_ExpMap(const double v[3]) : m_v(v) { angleUpdated(); } - - MT_ExpMap(MT_Scalar x, MT_Scalar y, MT_Scalar z) : - m_v(x, y, z) { angleUpdated(); } - - /** - * Construct an exponential map from a quaternion - */ - - MT_ExpMap( - const MT_Quaternion &q - ) { - setRotation(q); - } - - /** - * Accessors - * Decided not to inherit from MT_Vector3 but rather - * this class contains an MT_Vector3. This is because - * it is very dangerous to use MT_Vector3 functions - * on this class and some of them have no direct meaning. - */ - - const - MT_Vector3 & - vector( - ) const { - return m_v; - } - - /** - * Set the exponential map from a quaternion - */ - - void - setRotation( - const MT_Quaternion &q - ); - - /** - * Convert from an exponential map to a quaternion - * representation - */ - - const MT_Quaternion& - getRotation( - ) const; - - /** - * Convert the exponential map to a 3x3 matrix - */ - - MT_Matrix3x3 - getMatrix( - ) const; - - /** - * Update (and reparameterize) the expontial map - * @param dv delta update values. - */ - - void - update( - const MT_Vector3& dv - ); - - /** - * Compute the partial derivatives of the exponential - * map (dR/de - where R is a 4x4 matrix formed - * from the map) and return them as a 4x4 matrix - */ - - void - partialDerivatives( - MT_Matrix3x3& dRdx, - MT_Matrix3x3& dRdy, - MT_Matrix3x3& dRdz - ) const ; - -private : - - // m_v contains the exponential map, the other variables are - // cached for efficiency - - MT_Vector3 m_v; - MT_Scalar m_theta, m_sinp; - MT_Quaternion m_q; - - // private methods - - // Compute partial derivatives dR (3x3 rotation matrix) / dVi (EM vector) - // given the partial derivative dQ (Quaternion) / dVi (ith element of EM vector) - - void - compute_dRdVi( - const MT_Quaternion &dQdV, - MT_Matrix3x3 & dRdVi - ) const; - - // compute partial derivatives dQ/dVi - - void - compute_dQdVi( - MT_Quaternion *dQdX - ) const ; - - // reparametrize away from singularity - - void - reParametrize( - ); - - // (re-)compute cached variables - - void - angleUpdated( - ); -}; - -#endif - |