/** * $Id: IK_QChain.h,v 1.4 2003/05/01 19:52:20 sirdude Exp $ * ***** 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 ***** */ /** * $Id: IK_QChain.h,v 1.4 2003/05/01 19:52:20 sirdude Exp $ * Copyright (C) 2001 NaN Technologies B.V. * * @author Laurence */ #ifndef NAN_INCLUDED_IK_QChain_h #define NAN_INCLUDED_IK_QChain_h #include "IK_QSegment.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 chains cannot share instances of * IK_Segments. * * You have full control of which segments form the chain via the * the std::vector routines. */ 00065 class IK_QChain{ public : /** * Construct a IK_QChain with no segments. */ IK_QChain( ); // IK_QChains also have the default copy constructors // available. /** * Const access to the array of segments * comprising the IK_QChain. Used for rendering * etc * @return a const reference to a vector of segments */ const std::vector<IK_QSegment> & Segments( ) const ; /** * Full access to segments used to initialize * the IK_QChain and manipulate the segments. * Use the push_back() method of std::vector to add * segments in order to the chain * @return a reference to a vector of segments */ std::vector<IK_QSegment> & Segments( ); /** * Force the IK_QChain 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 const reference to the last computed jacobian matrix */ const TNT::Matrix<MT_Scalar> & Jacobian( ) const ; /** * @return A const reference to the last computed transposed jacobian matrix */ const TNT::Matrix<MT_Scalar> & TransposedJacobian( ) const ; /** * Count the degrees of freedom in the IK_QChain * @warning store this value rather than using this function * as the termination value of a for loop etc. */ int DoF( ) const; /** * Compute the maximum extension of the chain from the * root segment. This is the length of the root segments * + the max extensions of all the other segments */ const MT_Scalar MaxExtension( ) const; private : /// The vector of segments comprising the chain 00196 std::vector<IK_QSegment> m_segments; /// The jacobain of the IK_QChain 00199 TNT::Matrix<MT_Scalar> m_jacobian; /// It's transpose 00202 TNT::Matrix<MT_Scalar> m_t_jacobian; MT_Vector3 m_end_effector; MT_Vector3 m_end_pose; }; #endif

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