forked from blender/blender
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/*
|
|
* Distance.hpp
|
|
*
|
|
* Created on: Jan 30, 2009
|
|
* Author: rsmits
|
|
*/
|
|
|
|
#ifndef DISTANCE_HPP_
|
|
#define DISTANCE_HPP_
|
|
|
|
#include "ConstraintSet.hpp"
|
|
#include "kdl/chain.hpp"
|
|
#include "kdl/chainfksolverpos_recursive.hpp"
|
|
#include "kdl/chainjnttojacsolver.hpp"
|
|
|
|
namespace iTaSC
|
|
{
|
|
|
|
class Distance: public iTaSC::ConstraintSet
|
|
{
|
|
protected:
|
|
virtual void updateKinematics(const Timestamp& timestamp);
|
|
virtual void pushCache(const Timestamp& timestamp);
|
|
virtual void updateJacobian();
|
|
virtual bool initialise(Frame& init_pose);
|
|
virtual void initCache(Cache *_cache);
|
|
virtual void updateControlOutput(const Timestamp& timestamp);
|
|
virtual bool closeLoop();
|
|
|
|
public:
|
|
enum ID {
|
|
ID_DISTANCE=1,
|
|
};
|
|
Distance(double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100);
|
|
virtual ~Distance();
|
|
|
|
virtual bool setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep);
|
|
virtual const ConstraintValues* getControlParameters(unsigned int* _nvalues);
|
|
|
|
private:
|
|
bool computeChi(Frame& pose);
|
|
KDL::Chain m_chain;
|
|
KDL::ChainFkSolverPos_recursive* m_fksolver;
|
|
KDL::ChainJntToJacSolver* m_jacsolver;
|
|
KDL::JntArray m_chiKdl;
|
|
KDL::Jacobian m_jac;
|
|
struct ConstraintSingleValue m_data;
|
|
struct ConstraintValues m_values;
|
|
Cache* m_cache;
|
|
int m_distCCh;
|
|
CacheTS m_distCTs;
|
|
double m_maxerror;
|
|
|
|
void pushDist(CacheTS timestamp);
|
|
bool popDist(CacheTS timestamp);
|
|
|
|
double m_alpha,m_yddot,m_yd,m_nextyd,m_nextyddot,m_K,m_tolerance;
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* DISTANCE_HPP_ */
|