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/**
* $Id$
* ***** 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 *****
*/
#include "IK_Chain.h"
using namespace std;
IK_Chain::
IK_Chain(
)
{
// nothing to do;
};
const
vector<IK_Segment> &
IK_Chain::
Segments(
) const {
return m_segments;
};
vector<IK_Segment> &
IK_Chain::
Segments(
){
return m_segments;
};
void
IK_Chain::
UpdateGlobalTransformations(
){
// now iterate through the segment list
// compute their local transformations if needed
// assign their global transformations
// (relative to chain origin)
vector<IK_Segment>::const_iterator s_end = m_segments.end();
vector<IK_Segment>::iterator s_it = m_segments.begin();
MT_Transform global;
global.setIdentity();
for (; s_it != s_end; ++s_it) {
s_it->UpdateGlobal(global);
global = s_it->GlobalTransform();
}
// compute the position of the end effector and it's pose
const MT_Transform &last_t = m_segments.back().GlobalTransform();
m_end_effector = last_t.getOrigin();
MT_Matrix3x3 last_basis = last_t.getBasis();
last_basis.transpose();
MT_Vector3 m_end_pose = last_basis[2];
};
const
TNT::Matrix<MT_Scalar> &
IK_Chain::
Jacobian(
) const {
return m_jacobian;
} ;
const
TNT::Matrix<MT_Scalar> &
IK_Chain::
TransposedJacobian(
) const {
return m_t_jacobian;
};
void
IK_Chain::
ComputeJacobian(
){
// let's assume that the chain's global transfomations
// have already been computed.
int dof = DoF();
int num_segs = m_segments.size();
vector<IK_Segment>::const_iterator segs = m_segments.begin();
m_t_jacobian.newsize(dof,3);
m_jacobian.newsize(3,dof);
// compute the transposed jacobian first
int n;
int i = 0;
for (n= 0; n < num_segs; n++) {
const MT_Matrix3x3 &basis = segs[n].GlobalTransform().getBasis();
const MT_Vector3 &origin = segs[n].GlobalSegmentStart();
MT_Vector3 p = origin-m_end_effector;
// iterate through the active angle vectors of this segment
int angle_ind =0;
int seg_dof = segs[n].DoF();
const std::vector<MT_Vector3> & angle_vectors = segs[n].AngleVectors();
for (angle_ind = 0;angle_ind <seg_dof; angle_ind++,i++) {
MT_Vector3 angle_axis = angle_vectors[angle_ind];
MT_Vector3 a = basis * angle_axis;
MT_Vector3 pca = p.cross(a);
m_t_jacobian(i + 1,1) = pca.x();
m_t_jacobian(i + 1,2) = pca.y();
m_t_jacobian(i + 1,3) = pca.z();
}
}
// get the origina1 jacobain
TNT::transpose(m_t_jacobian,m_jacobian);
};
MT_Vector3
IK_Chain::
EndEffector(
) const {
return m_end_effector;
};
MT_Vector3
IK_Chain::
EndPose(
) const {
return m_end_pose;
};
int
IK_Chain::
DoF(
) const {
// iterate through the segs and compute the DOF
vector<IK_Segment>::const_iterator s_end = m_segments.end();
vector<IK_Segment>::const_iterator s_it = m_segments.begin();
int dof = 0;
for (;s_it != s_end; ++s_it) {
dof += s_it->DoF();
}
return dof;
}
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