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/* SPDX-License-Identifier: GPL-2.0-or-later
* Copyright 2001-2002 NaN Holding BV. All rights reserved. */
/** \file
* \ingroup intern_iksolver
*/
#pragma once
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include <list>
#include <vector>
#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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