IkFast.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_IKFAST_HPP_
#define DART_DYNAMICS_IKFAST_HPP_
 
#include <array>
 
#define IKFAST_HAS_LIBRARY
#include "dart/external/ikfast/ikfast.h"
 
#include "dart/dynamics/InverseKinematics.hpp"
 
namespace dart {
namespace dynamics {
 
class IkFast : public InverseKinematics::Analytical
{
public:
  // Following conversion is referred from:
  // https://github.com/rdiankov/openrave/blob/b1ebe135b4217823ebdf56d9af5fe89b29723603/include/openrave/openrave.h#L575-L623
  enum IkType
  {
    TRANSFORM_6D,
 
    ROTATION_3D,
 
    TRANSLATION_3D,
 
    DIRECTION_3D,
 
    RAY_4D,
 
    LOOKAT_3D,
 
    TRANSLATION_DIRECTION_5D,
 
    TRANSLATION_XY_2D,
 
    TRANSLATION_XY_ORIENTATION_3D,
 
    TRANSLATION_LOCAL_GLOBAL_6D,
 
    TRANSLATION_X_AXIS_ANGLE_4D,
 
    TRANSLATION_Y_AXIS_ANGLE_4D,
 
    TRANSLATION_Z_AXIS_ANGLE_4D,
 
    TRANSLATION_X_AXIS_ANGLE_Z_NORM_4D,
 
    TRANSLATION_Y_AXIS_ANGLE_X_NORM_4D,
 
    TRANSLATION_Z_AXIS_ANGLE_Y_NORM_4D,
 
    UNKNOWN,
  };
 
  IkFast(
      InverseKinematics* ik,
      const std::vector<std::size_t>& dofMap,
      const std::vector<std::size_t>& freeDofMap,
      const std::string& methodName = "IKFast",
      const Analytical::Properties& properties = Analytical::Properties());
 
  // Documentation inherited.
  const std::vector<InverseKinematics::Analytical::Solution>& computeSolutions(
      const Eigen::Isometry3d& desiredBodyTf) override;
 
  Eigen::Isometry3d computeFk(const Eigen::VectorXd& parameters);
 
  const std::vector<std::size_t>& getDofs() const override;
 
  const std::vector<std::size_t>& getFreeDofs() const;
 
  virtual bool isConfigured() const;
 
  std::size_t getNumFreeParameters2() const;
  // TODO(JS): Rename to getNumFreeParameters() in DART 7
 
  std::size_t getNumJoints2() const;
  // TODO(JS): Rename to getNumJoints in DART 7
 
  IkType getIkType2() const;
  // TODO(JS): Rename to getIkType() in DART 7
 
  const std::string getKinematicsHash2() const;
  // TODO(JS): Rename to getKinematicsHash() in DART 7
 
  std::string getIkFastVersion2() const;
  // TODO(JS): Rename to getIkFastVersion() in DART 7
 
protected:
  virtual int getNumFreeParameters() const = 0;
  // TODO(JS): Remove in DART 7
 
  virtual int* getFreeParameters() const = 0;
  // TODO(JS): Remove in DART 7
 
  virtual int getNumJoints() const = 0;
  // TODO(JS): Remove in DART 7
 
  virtual int getIkRealSize() const = 0;
 
  virtual int getIkType() const = 0;
 
  virtual bool computeIk(
      const IkReal* targetTranspose,
      const IkReal* targetRotation,
      const IkReal* pfree,
      ikfast::IkSolutionListBase<IkReal>& solutions)
      = 0;
 
  virtual void computeFk(
      const IkReal* parameters, IkReal* targetTranspose, IkReal* targetRotation)
      = 0;
 
  virtual const char* getKinematicsHash() = 0;
  // TODO(JS): Rename in DART 7
 
  virtual const char* getIkFastVersion() = 0;
  // TODO(JS): Rename in DART 7
 
  virtual void configure() const;
 
  mutable std::vector<double> mFreeParams;
 
  mutable bool mConfigured;
 
  mutable std::vector<std::size_t> mDofs;
 
  mutable std::vector<std::size_t> mFreeDofs;
 
private:
  std::array<IkReal, 9> mTargetRotation;
 
  std::array<IkReal, 3> mTargetTranspose;
};
 
bool wrapCyclicSolution(double curr, double lb, double ub, double& sol);
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_IKFAST_HPP_