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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 *****
*/
#ifndef NAN_INCLUDED_IK_Chain_h
#define NAN_INCLUDED_IK_Chain_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "IK_Segment.h"
#include <vector>
#include "MT_Scalar.h"
#include "TNT/cmat.h"
/**
* This class is a collection of ordered segments that are used
* in an Inverse Kinematic solving routine. An IK solver operating
* on the chain, will in general manipulate all the segments of the
* chain in order to solve the IK problem.
*
* To build a chain use the default constructor. Once built it's
* then possible to add IK_Segments to the chain by inserting
* them into the vector of IK_Segments. Note that segments will be
* copied into the chain so chain's cannot share instances of
* IK_Segments.
*
* You have full control of which segments form the chain via the
* the std::vector routines.
*/
class IK_Chain{
public :
/**
* Construct a IK_Chain with no segments.
*/
IK_Chain(
);
// IK_Chains also have the default copy constructors
// available.
/**
* Const access to the array of segments
* comprising the IK_Chain. Used for rendering
* etc
* @return a vector of segments
*/
const
std::vector<IK_Segment> &
Segments(
) const ;
/**
* Full access to segments used to initialize
* the IK_Chain and manipulate the segments.
* Use the push_back() method of std::vector to add
* segments in order to the chain
*/
std::vector<IK_Segment> &
Segments(
);
/**
* Force the IK_Chain to recompute all the local
* segment transformations and composite them
* to calculate the global transformation for
* each segment. Must be called before
* ComputeJacobian()
*/
void
UpdateGlobalTransformations(
);
/**
* Return the global position of the end
* of the last segment.
*/
MT_Vector3
EndEffector(
) const;
/**
* Return the global pose of the end
* of the last segment.
*/
MT_Vector3
EndPose(
) const;
/**
* Calculate the jacobian matrix for
* the current end effector position.
* A jacobian is the set of column vectors
* of partial derivatives for each active angle.
* This method also computes the transposed jacobian.
* @pre You must have updated the global transformations
* of the chain's segments before a call to this method. Do this
* with UpdateGlobalTransformation()
*/
void
ComputeJacobian(
);
/**
* @return A reference to the last computed jacobian matrix
*/
const
TNT::Matrix<MT_Scalar> &
Jacobian(
) const ;
/**
* @return A reference to the last computed transposed jacobian matrix
*/
const
TNT::Matrix<MT_Scalar> &
TransposedJacobian(
) const ;
/**
* Count the degrees of freedom in the IK_Chain
* @warning store this value rather than using this function
* as the termination value of a for loop etc.
*/
int
DoF(
) const;
private :
/// The vector of segments comprising the chain
std::vector<IK_Segment> m_segments;
/// The jacobain of the IK_Chain
TNT::Matrix<MT_Scalar> m_jacobian;
/// It's transpose
TNT::Matrix<MT_Scalar> m_t_jacobian;
MT_Vector3 m_end_effector;
MT_Vector3 m_end_pose;
};
#endif
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