DART  6.7.3
IkFast.hpp
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32 
33 #ifndef DART_DYNAMICS_IKFAST_HPP_
34 #define DART_DYNAMICS_IKFAST_HPP_
35 
36 #include <array>
37 
38 #define IKFAST_HAS_LIBRARY
39 #include "dart/external/ikfast/ikfast.h"
40 
42 
43 namespace dart {
44 namespace dynamics {
45 
51 {
52 public:
65  IkFast(
67  const std::vector<std::size_t>& dofMap,
68  const std::vector<std::size_t>& freeDofMap,
69  const std::string& methodName = "IKFast",
70  const Analytical::Properties& properties = Analytical::Properties());
71 
72  // Documentation inherited.
73  auto computeSolutions(const Eigen::Isometry3d& desiredBodyTf)
74  -> const std::vector<InverseKinematics::Analytical::Solution>& override;
75 
76  // Documentation inherited.
77  auto getDofs() const -> const std::vector<std::size_t>& override;
78 
80  virtual bool isConfigured() const;
81 
82 protected:
83  virtual int getNumFreeParameters() const = 0;
84  virtual int* getFreeParameters() const = 0;
85  virtual int getNumJoints() const = 0;
86  virtual int getIkRealSize() const = 0;
87  virtual int getIkType() const = 0;
88 
90  virtual bool computeIk(
91  const IkReal* mTargetTranspose,
92  const IkReal* mTargetRotation,
93  const IkReal* pfree,
94  ikfast::IkSolutionListBase<IkReal>& solutions) = 0;
95 
96  virtual const char* getKinematicsHash() = 0;
97 
98  virtual const char* getIkFastVersion() = 0;
99 
102  virtual void configure() const;
103 
104 protected:
105  mutable std::vector<double> mFreeParams;
106 
108  mutable bool mConfigured;
109 
112  mutable std::vector<std::size_t> mDofs;
113 
116  mutable std::vector<std::size_t> mFreeDofs;
117 
118 private:
120  std::array<IkReal, 9> mTargetRotation;
121 
123  std::array<IkReal, 3> mTargetTranspose;
124 };
125 
126 } // namespace dynamics
127 } // namespace dart
128 
129 #endif // DART_DYNAMICS_IKFAST_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
A base class for IkFast-based analytical inverse kinematics classes.
Definition: IkFast.hpp:51
virtual bool isConfigured() const
Returns true if this IkFast is ready to solve.
Definition: IkFast.cpp:236
auto computeSolutions(const Eigen::Isometry3d &desiredBodyTf) -> const std::vector< InverseKinematics::Analytical::Solution > &override
Use this function to fill the entries of the mSolutions variable.
Definition: IkFast.cpp:277
std::array< IkReal, 9 > mTargetRotation
Cache data for the target rotation used by IKFast.
Definition: IkFast.hpp:120
virtual bool computeIk(const IkReal *mTargetTranspose, const IkReal *mTargetRotation, const IkReal *pfree, ikfast::IkSolutionListBase< IkReal > &solutions)=0
Computes the inverse kinematics solutions using the generated IKFast code.
virtual int getIkType() const =0
virtual int getIkRealSize() const =0
auto getDofs() const -> const std::vector< std::size_t > &override
Get a list of the DOFs that will be included in the entries of the solutions returned by getSolutions...
Definition: IkFast.cpp:217
bool mConfigured
True if this IkFast is ready to solve.
Definition: IkFast.hpp:108
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())
Constructor.
Definition: IkFast.cpp:202
virtual const char * getIkFastVersion()=0
std::vector< double > mFreeParams
Definition: IkFast.hpp:105
std::vector< std::size_t > mDofs
Indices of the DegreeOfFreedoms associated to the variable parameters of this IkFast.
Definition: IkFast.hpp:112
std::vector< std::size_t > mFreeDofs
Indices of the DegreeOfFreedoms associated to the free parameters of this IkFast.
Definition: IkFast.hpp:116
virtual int getNumFreeParameters() const =0
virtual void configure() const
Configure IkFast.
Definition: IkFast.cpp:242
virtual int getNumJoints() const =0
virtual int * getFreeParameters() const =0
virtual const char * getKinematicsHash()=0
std::array< IkReal, 3 > mTargetTranspose
Cache data for the target translation used by IKFast.
Definition: IkFast.hpp:123
Analytical is a base class that should be inherited by methods that are made to solve the IK analytic...
Definition: InverseKinematics.hpp:965
The InverseKinematics class provides a convenient way of setting up an IK optimization problem.
Definition: InverseKinematics.hpp:76
Definition: BulletCollisionDetector.cpp:63