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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_QJacobianSolver_h
#define NAN_INCLUDED_IK_QJacobianSolver_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "TNT/cmat.h"
#include <vector>
#include "MT_Vector3.h"
#include "IK_QChain.h"
class IK_QJacobianSolver {
public :
/**
* Create a new IK_QJacobianSolver on the heap
* @return A newly created IK_QJacobianSolver you take ownership of the object
* and responsibility for deleting it
*/
static
IK_QJacobianSolver *
New(
);
/**
* Compute a solution for a chain.
* @param chain Reference to the chain to modify
* @param g_position Reference to the goal position.
* @param g_pose -not used- Reference to the goal pose.
* @param tolerance The maximum allowed distance between solution
* and goal for termination.
* @param max_iterations should be in the range (50 - 500)
* @param max_angle_change The maximum change in the angle vector
* of the chain (0.1 is a good value)
*
* @return True iff goal position reached.
*/
bool
Solve(
IK_QChain &chain,
const MT_Vector3 &g_position,
const MT_Vector3 &g_pose,
const MT_Scalar tolerance,
const int max_iterations,
const MT_Scalar max_angle_change
);
~IK_QJacobianSolver(
);
private :
/**
* Private constructor to force use of New()
*/
IK_QJacobianSolver(
);
/**
* Compute the inverse jacobian matrix of the chain.
* Uses a damped least squares solution when the matrix is
* is approaching singularity
*/
int
ComputeInverseJacobian(
IK_QChain &chain,
const MT_Scalar x_length,
const MT_Scalar max_angle_change
);
void
ComputeBetas(
IK_QChain &chain,
const MT_Vector3 d_pos
);
/**
* Updates the angles of the chain with the newly
* computed values
*/
void
UpdateChain(
IK_QChain &chain
);
/**
* Make sure all the matrices are of the correct size
*/
void
ArmMatrices(
int dof
);
/**
* Quick check to see if all the segments are parallel
* to the goal direction.
*/
bool
ParallelCheck(
const IK_QChain &chain,
const MT_Vector3 goal
) const;
private :
/// the vector of intermediate betas
TNT::Vector<MT_Scalar> m_beta;
/// the vector of computed angle changes
TNT::Vector<MT_Scalar> m_d_theta;
/// the constraint gradients for each angle.
TNT::Vector<MT_Scalar> m_dh;
/// Space required for SVD computation
TNT::Vector<MT_Scalar> m_svd_w;
TNT::Vector<MT_Scalar> m_svd_work_space;
TNT::Matrix<MT_Scalar> m_svd_v;
TNT::Matrix<MT_Scalar> m_svd_u;
TNT::Matrix<MT_Scalar> m_svd_w_diag;
TNT::Matrix<MT_Scalar> m_svd_v_t;
TNT::Matrix<MT_Scalar> m_svd_u_t;
TNT::Matrix<MT_Scalar> m_svd_inverse;
TNT::Matrix<MT_Scalar> m_svd_temp1;
};
#endif
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