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
|
/**
* $Id$
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef CGChainSolver_h
#define CGChainSolver_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "IK_ConjugateGradientSolver.h"
#include "IK_Chain.h"
#include "MT_Scalar.h"
#include "TNT/vec.h"
#include "MEM_SmartPtr.h"
/**
* This class is a concrete differentiable potenial function for
* an IK_Chain representing the distance to the goal.
* @warning This method of solving IK problems is not as good
* as IK_JacobianSolver. I advise you to use that class instead.
*/
class ChainPotential :
public DifferentiablePotenialFunctionNd
{
public :
static
ChainPotential *
New(
IK_Chain &chain
);
// End effector goal
void
SetGoal(
const MT_Vector3 goal
);
// Inherited from DifferentiablePotenialFunctionNd
//////////////////////////////////////////////////
MT_Scalar
Evaluate(
const MT_Scalar x
);
MT_Scalar
Derivative(
const MT_Scalar x
);
MT_Scalar
Evaluate(
const TNT::Vector<MT_Scalar> &x
);
void
Derivative(
const TNT::Vector<MT_Scalar> &x,
TNT::Vector<MT_Scalar> &dy
);
// return the dimension of the domain of the potenial
// function
int
Dimension(
) const {
return m_dimension;
}
~ChainPotential(
){
};
private :
MT_Scalar
DistancePotential(
MT_Vector3 pos,
MT_Vector3 goal
) const;
void
DistanceGradient(
MT_Vector3 pos,
MT_Vector3 goal
);
ChainPotential(
IK_Chain & chain
) :
DifferentiablePotenialFunctionNd(),
m_chain(chain),
m_t_chain(chain),
m_dimension (chain.Segments().size())
{
};
MT_Vector3 m_goal;
TNT::Vector<MT_Scalar> m_distance_grad;
TNT::Vector<MT_Scalar> m_angle_grad;
TNT::Vector<MT_Scalar> m_temp_pos;
TNT::Vector<MT_Scalar> m_temp_grad;
TNT::Vector<MT_Scalar> m_original_pos;
int m_dimension;
IK_Chain &m_chain;
IK_Chain m_t_chain; // deep copy
};
class IK_CGChainSolver : public MEM_NonCopyable
{
public :
static
IK_CGChainSolver *
New(
);
bool
Solve(
IK_Chain & chain,
MT_Vector3 new_position,
MT_Scalar tolerance
);
~IK_CGChainSolver();
private :
IK_CGChainSolver(
);
MEM_SmartPtr<ChainPotential> m_potential;
MEM_SmartPtr<IK_ConjugateGradientSolver> m_grad_solver;
};
#endif
|
