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Finished cleaning up the ik directory removing unused files.

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Kent
--
mein@cs.umn.edu
This commit is contained in:
Kent Mein
2003-01-01 18:28:31 +00:00
parent 26aa841a1f
commit 077fd2d1de
8 changed files with 0 additions and 1347 deletions
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178
intern/iksolver/intern/IK_CGChainSolver.h
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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 CGChainSolver_h
#define CGChainSolver_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "IK_ConjugateGradientSolver.h"
#include "IK_Chain.h"
#include "MT_Scalar.h"
#include "TNT/vec.h"
#include "MEM_SmartPtr.h"
/**
* This class is a concrete differentiable potenial function for
* an IK_Chain representing the distance to the goal.
* @warning This method of solving IK problems is not as good
* as IK_JacobianSolver. I advise you to use that class instead.
*/
class ChainPotential :
public DifferentiablePotenialFunctionNd
{
public :
static
ChainPotential *
New(
IK_Chain &chain
);
// End effector goal
void
SetGoal(
const MT_Vector3 goal
);
// Inherited from DifferentiablePotenialFunctionNd
//////////////////////////////////////////////////
MT_Scalar
Evaluate(
const MT_Scalar x
);
MT_Scalar
Derivative(
const MT_Scalar x
);
MT_Scalar
Evaluate(
const TNT::Vector<MT_Scalar> &x
);
void
Derivative(
const TNT::Vector<MT_Scalar> &x,
TNT::Vector<MT_Scalar> &dy
);
// return the dimension of the domain of the potenial
// function
int
Dimension(
) const {
return m_dimension;
}
~ChainPotential(
){
};
private :
MT_Scalar
DistancePotential(
MT_Vector3 pos,
MT_Vector3 goal
) const;
void
DistanceGradient(
MT_Vector3 pos,
MT_Vector3 goal
);
ChainPotential(
IK_Chain & chain
) :
DifferentiablePotenialFunctionNd(),
m_chain(chain),
m_t_chain(chain),
m_dimension (chain.Segments().size())
{
};
MT_Vector3 m_goal;
TNT::Vector<MT_Scalar> m_distance_grad;
TNT::Vector<MT_Scalar> m_angle_grad;
TNT::Vector<MT_Scalar> m_temp_pos;
TNT::Vector<MT_Scalar> m_temp_grad;
TNT::Vector<MT_Scalar> m_original_pos;
int m_dimension;
IK_Chain &m_chain;
IK_Chain m_t_chain; // deep copy
};
class IK_CGChainSolver : public MEM_NonCopyable
{
public :
static
IK_CGChainSolver *
New(
);
bool
Solve(
IK_Chain & chain,
MT_Vector3 new_position,
MT_Scalar tolerance
);
~IK_CGChainSolver();
private :
IK_CGChainSolver(
);
MEM_SmartPtr<ChainPotential> m_potential;
MEM_SmartPtr<IK_ConjugateGradientSolver> m_grad_solver;
};
#endif

194
intern/iksolver/intern/IK_Chain.h
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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

194
intern/iksolver/intern/IK_ConjugateGradientSolver.h
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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_ConjugateGradientSolver_h
#define NAN_INCLUDED_IK_ConjugateGradientSolver_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "TNT/cmat.h"
#include "MT_Scalar.h"
#include "IK_LineMinimizer.h"
/**
* These classes locally minimize n dimensional potenial functions.
* See Numerical Recipes in C www.nr.com for more details.
* If a n dimensionable potenial function is
* differentiable, then it is diferentiable along
* any vector x. This can be found by the dot product
* of the gradient operator with x.
* The conjugate gradient solver boils down to
* a collection of line minimizations along various lines
* defined by position,direction pairs. There are
* methods in this class to set the lines along which
* minimizations via the DiffentiablePotenialFunction1d interface
* are to be performed.
*
* @warning I don't like data inheritance but it is the most efficient
* wasy to do this here.
*/
class DifferentiablePotenialFunctionNd
: public DifferentiablePotenialFunction1d
{
public :
/**
* Inherited from DiffentiablePotenialFunction1d
*
* virtual
* MT_Scalar
* Evaluate1d(
* MT_Scalar x
* ) = 0;
*
* virtual
* MT_Scalar
* Derivative1d(
* MT_Scalar x
* ) = 0;
*/
/// Methods to set the current line in N dimensions
void
SetLineVector(
const TNT::Vector<MT_Scalar> &pos,
const TNT::Vector<MT_Scalar> &dir
){
m_line_pos = pos;
m_line_dir = dir;
};
virtual
MT_Scalar
Evaluate(
const TNT::Vector<MT_Scalar> &x
) = 0;
virtual
void
Derivative(
const TNT::Vector<MT_Scalar> &x,
TNT::Vector<MT_Scalar> &dy
) = 0;
/// @return The dimension of the domain of the potenial function
virtual
int
Dimension(
) const =0;
virtual
~DifferentiablePotenialFunctionNd(
){
};
protected :
DifferentiablePotenialFunctionNd(){};
TNT::Vector<MT_Scalar> m_line_pos;
TNT::Vector<MT_Scalar> m_line_dir;
};
class IK_ConjugateGradientSolver
: public MEM_NonCopyable
{
public :
/**
* This class necessarily needs some (potenially large)
* temporary vectors to aid computation. We therefore
* insist creation of these objects on the heap.
*/
static
IK_ConjugateGradientSolver *
New(
);
/**
* Compute the minimum of the potenial function
* starting at point p. On return p contains the
* computed minima, iter the number of iterations performed,
* fret the potenial value at the minima
*/
void
Solve(
TNT::Vector<MT_Scalar> &p,
MT_Scalar ftol,
int &iter,
MT_Scalar &fret,
DifferentiablePotenialFunctionNd &potenial,
int max_its = 200
);
~IK_ConjugateGradientSolver(
);
private :
void
LineMinimize(
TNT::Vector<MT_Scalar> & p,
const TNT::Vector<MT_Scalar> & xi,
MT_Scalar &fret,
DifferentiablePotenialFunctionNd &potenial
);
IK_ConjugateGradientSolver(
);
void
ArmVectors(
int dimension
);
TNT::Vector<MT_Scalar> m_g;
TNT::Vector<MT_Scalar> m_h;
TNT::Vector<MT_Scalar> m_xi;
TNT::Vector<MT_Scalar> m_xi_temp;
};
#endif

166
intern/iksolver/intern/IK_JacobianSolver.h
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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_JacobianSolver_h
#define NAN_INCLUDED_IK_JacobianSolver_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "TNT/cmat.h"
#include <vector>
#include "MT_Vector3.h"
#include "IK_Chain.h"
class IK_JacobianSolver {
public :
/**
* Create a new IK_JacobianSolver on the heap
* @return A newly created IK_JacobianSolver you take ownership of the object
* and responsibility for deleting it
*/
static
IK_JacobianSolver *
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_Chain &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_JacobianSolver(
);
private :
/**
* Private constructor to force use of New()
*/
IK_JacobianSolver(
);
/**
* Compute the inverse jacobian matrix of the chain.
* Uses a damped least squares solution when the matrix is
* is approaching singularity
*/
int
ComputeInverseJacobian(
IK_Chain &chain,
const MT_Scalar x_length,
const MT_Scalar max_angle_change
);
void
ComputeBetas(
IK_Chain &chain,
const MT_Vector3 d_pos
);
/**
* Updates the angles of the chain with the newly
* computed values
**/
void
UpdateChain(
IK_Chain &chain
);
/**
* Make sure all the matrices are of the correct size
**/
void
ArmMatrices(
int dof
);
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 contraint gradients for each angle.
TNT::Vector<MT_Scalar> m_dh;
/// Space required for SVD computation
TNT::Vector<MT_Scalar> m_svd_w;
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

297
intern/iksolver/intern/IK_LineMinimizer.h
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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_LineMinimizer_h
#define NAN_INCLUDED_IK_LineMinimizer_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "MT_Scalar.h"
#include <vector>
#include "TNT/tntmath.h"
#include "MEM_NonCopyable.h"
#define GOLD 1.618034
#define GLIMIT 100.0
#define TINY 1.0e-20
#define ZEPS 1.0e-10
/**
* Routines for line - minization in n dimensions
* these should be templated on the potenial function
* p instead of using a virtual class. Please see
* numerical recipes in c for more details. www.nr.com
*/
class DifferentiablePotenialFunction1d {
public :
virtual
MT_Scalar
Evaluate(
const MT_Scalar x
) = 0;
virtual
MT_Scalar
Derivative(
const MT_Scalar x
) = 0;
};
/**
* TODO get rid of this class and make some
* template functions in a seperate namespace
*/
class IK_LineMinimizer : public MEM_NonCopyable {
public :
/**
* Before we proceed with line minimization
* we need to construct an initial bracket
* of a minima of the PotenialFunction
*/
static
void
InitialBracket1d (
MT_Scalar &ax,
MT_Scalar &bx,
MT_Scalar &cx,
MT_Scalar &fa,
MT_Scalar &fb,
MT_Scalar &fc,
DifferentiablePotenialFunction1d &potenial
) {
MT_Scalar ulim,u,r,q,fu;
fa = potenial.Evaluate(ax);
fb = potenial.Evaluate(bx);
if (fb > fa) {
std::swap(ax,bx);
std::swap(fa,fb);
}
cx = bx + GOLD*(bx-ax);
fc = potenial.Evaluate(cx);
while (fb > fc) {
r = (bx - ax) * (fb - fc);
q = (bx - cx) * (fb - fa);
u = bx - ((bx - cx)*q - (bx - ax) *r)/
(2 * TNT::sign(TNT::max(TNT::abs(q-r),TINY),q-r));
ulim = bx + GLIMIT*(cx-bx);
if ((bx-u)*(u-cx) > 0.0) {
fu = potenial.Evaluate(u);
if (fu < fc) {
ax = bx;
bx = u;
fa = fb;
fb = fu;
return;
} else if (fu > fb) {
cx = u;
fc = fu;
return;
}
u = cx + GOLD*(cx-bx);
fu = potenial.Evaluate(u);
} else if ((cx - u)*(u - ulim) > 0.0) {
fu = potenial.Evaluate(u);
if (fu < fc) {
bx = cx;
cx = u;
u = cx + GOLD*(cx - bx);
fb = fc;
fc = fu;
fu = potenial.Evaluate(u);
}
} else if ((u-ulim)*(ulim-cx) >=0.0) {
u = ulim;
fu = potenial.Evaluate(u);
} else {
u = cx + GOLD*(cx-bx);
fu = potenial.Evaluate(u);
}
ax = bx;
bx = cx;
cx = u;
fa = fb;
fb = fc;
fc = fu;
}
};
/**
* This is a 1 dimensional brent method for
* line-minization with derivatives
*/
static
MT_Scalar
DerivativeBrent1d(
MT_Scalar ax,
MT_Scalar bx,
MT_Scalar cx,
DifferentiablePotenialFunction1d &potenial,
MT_Scalar &x_min,
const MT_Scalar tol,
int max_iter = 100
) {
int iter;
bool ok1,ok2;
MT_Scalar a,b,d,d1,d2,du,dv,dw,dx,e(0);
MT_Scalar fu,fv,fw,fx,olde,tol1,tol2,u,u1,u2,v,w,x,xm;
a = (ax < cx ? ax : cx);
b = (ax > cx ? ax : cx);
x = w = v = bx;
fw = fv = fx = potenial.Evaluate(x);
dw = dv = dx = potenial.Derivative(x);
for (iter = 1; iter <= max_iter; iter++) {
xm = 0.5*(a+b);
tol1 = tol*fabs(x) + ZEPS;
tol2 = 2 * tol1;
if (fabs(x - xm) <= (tol2 - 0.5*(b-a))) {
x_min = x;
return fx;
}
if (fabs(e) > tol1) {
d1 = 2*(b-a);
d2 = d1;
if (dw != dx) {
d1 = (w-x)*dx/(dx-dw);
}
if (dv != dx) {
d2 = (v-x)*dx/(dx-dv);
}
u1 = x+d1;
u2 = x+d2;
ok1 = ((a-u1)*(u1-b) > 0.0) && ((dx*d1) <= 0.0);
ok2 = ((a-u2)*(u2-b) > 0.0) && ((dx*d2) <= 0.0);
olde = e;
e = d;
if (ok1 || ok2) {
if (ok1 && ok2) {
d = fabs(d1) < fabs(d2) ? d1 : d2;
} else if (ok1) {
d = d1;
} else {
d = d2;
}
if (fabs(d) <= fabs(0.5*olde)) {
u = x+d;
if ((u-a < tol2) || (b-u < tol2)) {
d = TNT::sign(tol1,xm-x);
}
} else {
d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
}
} else {
d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
}
} else {
d = 0.5*(e = (dx >= 0.0 ? a-x : b-x));
}
if (fabs(d) >= tol1) {
u = x+d;
fu = potenial.Evaluate(u);
} else {
u = x + TNT::sign(tol1,d);
fu = potenial.Evaluate(u);
if (fu > fx) {
x_min = x;
return fx;
}
}
du = potenial.Derivative(u);
if (fu <= fx) {
if (u >= x) {
a = x;
} else {
b = x;
}
v = w; fv = fw; dv = dw;
w = x; fw = fx; dw = dx;
x = u; fx = fu; dx = du;
} else {
if (u < x) {
a = u;
} else {
b = u;
}
if (fu <= fw || w == x) {
v = w; fv = fw; dv = dw;
w = u; fw = fu; dw = du;
} else if ( fu < fv || v == x || v == w) {
v = u; fv = fu; dv = du;
}
}
}
// FIXME throw exception
assert(false);
return MT_Scalar(0);
};
private :
/// This class just contains static helper methods so no instantiation
IK_LineMinimizer();
};
#undef GOLD
#undef GLIMIT
#undef TINY
#undef ZEPS
#endif

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intern/iksolver/intern/IK_Segment.h
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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_Segment_h
#define NAN_INCLUDED_Segment_h
/**
* @author Laurence Bourn
* @date 28/6/2001
*/
#include "MT_Vector3.h"
#include "MT_Transform.h"
#include <vector>
class IK_Segment {
public :
/**
* Constructor.
* @warning This class uses axis angles for it's parameterization.
* Axis angles are a poor representation for joints of more than 1 DOF
* because they suffer from Gimbal lock. This becomes noticeable in
* IK solutions. A better solution is to do use a quaternion to represent
* angles with 3 DOF
*/
IK_Segment(
const MT_Point3 tr1,
const MT_Matrix3x3 A,
const MT_Scalar length,
const bool pitch_on,
const bool yaw_on,
const bool role_on
);
IK_Segment(
);
/**
* @return The length of the segment
*/
const
MT_Scalar
Length(
) const ;
/**
* @return The transform from adjacent
* coordinate systems in the chain.
*/
const
MT_Transform &
LocalTransform(
) const ;
/**
* Get the segment to compute it's
* global transform given the global transform
* of the parent. This method also updtes the
* global segment start
*/
void
UpdateGlobal(
const MT_Transform & global
);
/**
* @return A const reference to the global trnasformation
*/
const
MT_Transform &
GlobalTransform(
) const;
/**
* @return A const Reference to start of segment in global
* coordinates
*/
const
MT_Vector3 &
GlobalSegmentStart(
) const;
/**
* Computes the number of degrees of freedom of this segment
*/
int
DoF(
) const;
/**
* Increment the active angles (at most DoF()) by
* d_theta. Which angles are incremented depends
* on which are active.
* @return DoF()
* @warning Bad interface
*/
int
IncrementAngles(
MT_Scalar *d_theta
);
// FIXME - interface bloat
/**
* @return the vectors about which the active
* angles operate
*/
const
std::vector<MT_Vector3> &
AngleVectors(
) const;
/**
* @return the ith active angle
*/
MT_Scalar
ActiveAngle(
int i
) const;
/**
* @return the ith angle
*/
MT_Scalar
Angle(
int i
) const;
/**
* Set the active angles from the array
* @return the number of active angles
*/
int
SetAngles(
const MT_Scalar *angles
);
private :
void
UpdateLocalTransform(
);
private :
/** The user defined transformation, composition of the
* translation and rotation from constructor.
*/
MT_Transform m_transform;
MT_Scalar m_angles[3];
MT_Scalar m_length;
MT_Transform m_local_transform;
MT_Transform m_global_transform;
bool m_active_angles[3];
MT_Vector3 m_seg_start;
std::vector<MT_Vector3> m_angle_vectors;
};
#endif

94
intern/iksolver/intern/IK_Solver_Class.h
View File

@@ -1,94 +0,0 @@
/**
* $Id$
* ***** 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_Solver_Class
#define NAN_INCLUDED_IK_Solver_Class
#include "IK_Chain.h"
#include "IK_JacobianSolver.h"
#include "IK_Segment.h"
#include "MEM_SmartPtr.h"
class IK_Solver_Class {
public :
static
IK_Solver_Class *
New(
){
MEM_SmartPtr<IK_Solver_Class> output (new IK_Solver_Class);
MEM_SmartPtr<IK_JacobianSolver> solver (IK_JacobianSolver::New());
if (output == NULL ||
solver == NULL
) {
return NULL;
}
output->m_solver = solver.Release();
return output.Release();
};
IK_Chain &
Chain(
) {
return m_chain;
};
IK_JacobianSolver &
Solver(
) {
return m_solver.Ref();
}
~IK_Solver_Class(
) {
// nothing to do
}
private :
IK_Solver_Class(
) {
};
IK_Chain m_chain;
MEM_SmartPtr<IK_JacobianSolver> m_solver;
};
#endif

6
intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
View File

@@ -36,15 +36,9 @@
#include "MyGlutMouseHandler.h" #include "MyGlutMouseHandler.h"
#include "MyGlutKeyHandler.h" #include "MyGlutKeyHandler.h"
#include "MT_Transform.h" #include "MT_Transform.h"
#ifdef USE_QUATERNIONS
# include "IK_Qsolver.h" # include "IK_Qsolver.h"
# include "../intern/IK_QChain.h" # include "../intern/IK_QChain.h"
# include "../intern/IK_QSolver_Class.h" # include "../intern/IK_QSolver_Class.h"
#else
# include "IK_solver.h"
# include "../intern/IK_Chain.h"
# include "../intern/IK_Solver_Class.h"
#endif
#include <GL/glut.h> #include <GL/glut.h>
class ChainDrawer : public GlutDrawer class ChainDrawer : public GlutDrawer