InverseKinematics.hpp

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#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
 
#include <type_traits>
 
#include "dart/dynamics/InverseKinematics.hpp"
 
namespace dart {
namespace dynamics {
 
//==============================================================================
template <class IKErrorMethod, typename... Args>
IKErrorMethod& InverseKinematics::setErrorMethod(Args&&... args)
{
  IKErrorMethod* newMethod =
      new IKErrorMethod(this, std::forward<Args>(args)...);
  mErrorMethod = std::unique_ptr<ErrorMethod>(newMethod);
  return *newMethod;
}
 
//==============================================================================
template <class IKGradientMethod, typename... Args>
IKGradientMethod& InverseKinematics::setGradientMethod(Args&&... args)
{
  IKGradientMethod* newMethod =
      new IKGradientMethod(this, std::forward<Args>(args)...);
  mGradientMethod = std::unique_ptr<GradientMethod>(newMethod);
 
  mAnalytical = dynamic_cast<Analytical*>(mGradientMethod.get());
  if(nullptr != mAnalytical)
    mAnalytical->constructDofMap();
 
  return *newMethod;
}
 
//==============================================================================
template <class DegreeOfFreedomT>
void InverseKinematics::setDofs(const std::vector<DegreeOfFreedomT*>& _dofs)
{
  std::vector<std::size_t> indices;
  indices.reserve(_dofs.size());
  for(const DegreeOfFreedomT* dof : _dofs)
    indices.push_back(dof->getIndexInSkeleton());
 
  setDofs(indices);
}
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_