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/*
* 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.
*/
/** \file
* \ingroup iksolver
*/
#pragma once
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include <vector>
#include <list>
#include "IK_Math.h"
#include "IK_QJacobian.h"
#include "IK_QSegment.h"
#include "IK_QTask.h"
class IK_QJacobianSolver
{
public:
IK_QJacobianSolver();
~IK_QJacobianSolver() {}
// setup pole vector constraint
void SetPoleVectorConstraint(IK_QSegment *tip, Vector3d& goal,
Vector3d& polegoal, float poleangle, bool getangle);
float GetPoleAngle() { return m_poleangle; }
// call setup once before solving, if it fails don't solve
bool Setup(IK_QSegment *root, std::list<IK_QTask*>& tasks);
// returns true if converged, false if max number of iterations was used
bool Solve(
IK_QSegment *root,
std::list<IK_QTask*> tasks,
const double tolerance,
const int max_iterations
);
private:
void AddSegmentList(IK_QSegment *seg);
bool UpdateAngles(double& norm);
void ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask*>& tasks);
double ComputeScale();
void Scale(double scale, std::list<IK_QTask*>& tasks);
private:
IK_QJacobian m_jacobian;
IK_QJacobian m_jacobian_sub;
bool m_secondary_enabled;
std::vector<IK_QSegment*> m_segments;
Affine3d m_rootmatrix;
bool m_poleconstraint;
bool m_getpoleangle;
Vector3d m_goal;
Vector3d m_polegoal;
float m_poleangle;
IK_QSegment *m_poletip;
};
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