IkFast.hpp

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#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:
  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.
  auto computeSolutions(const Eigen::Isometry3d& desiredBodyTf)
      -> const std::vector<InverseKinematics::Analytical::Solution>& override;
 
  // Documentation inherited.
  auto getDofs() const -> const std::vector<std::size_t>& override;
 
  virtual bool isConfigured() const;
 
protected:
  virtual int getNumFreeParameters() const = 0;
  virtual int* getFreeParameters() const = 0;
  virtual int getNumJoints() const = 0;
  virtual int getIkRealSize() const = 0;
  virtual int getIkType() const = 0;
 
  virtual bool computeIk(
      const IkReal* mTargetTranspose,
      const IkReal* mTargetRotation,
      const IkReal* pfree,
      ikfast::IkSolutionListBase<IkReal>& solutions) = 0;
 
  virtual const char* getKinematicsHash() = 0;
 
  virtual const char* getIkFastVersion() = 0;
 
  virtual void configure() const;
 
protected:
  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;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_IKFAST_HPP_