DART  6.7.3
InverseKinematics.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
34 #define DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
35 
36 #include <type_traits>
37 
39 
40 namespace dart {
41 namespace dynamics {
42 
43 //==============================================================================
44 template <class IKErrorMethod, typename... Args>
45 IKErrorMethod& InverseKinematics::setErrorMethod(Args&&... args)
46 {
47  IKErrorMethod* newMethod =
48  new IKErrorMethod(this, std::forward<Args>(args)...);
49  mErrorMethod = std::unique_ptr<ErrorMethod>(newMethod);
50  return *newMethod;
51 }
52 
53 //==============================================================================
54 template <class IKGradientMethod, typename... Args>
55 IKGradientMethod& InverseKinematics::setGradientMethod(Args&&... args)
56 {
57  IKGradientMethod* newMethod =
58  new IKGradientMethod(this, std::forward<Args>(args)...);
59  mGradientMethod = std::unique_ptr<GradientMethod>(newMethod);
60 
61  mAnalytical = dynamic_cast<Analytical*>(mGradientMethod.get());
62  if(nullptr != mAnalytical)
64 
65  return *newMethod;
66 }
67 
68 //==============================================================================
69 template <class DegreeOfFreedomT>
70 void InverseKinematics::setDofs(const std::vector<DegreeOfFreedomT*>& _dofs)
71 {
72  std::vector<std::size_t> indices;
73  indices.reserve(_dofs.size());
74  for(const DegreeOfFreedomT* dof : _dofs)
75  indices.push_back(dof->getIndexInSkeleton());
76 
77  setDofs(indices);
78 }
79 
80 } // namespace dynamics
81 } // namespace dart
82 
83 #endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
Analytical is a base class that should be inherited by methods that are made to solve the IK analytic...
Definition: InverseKinematics.hpp:965
void constructDofMap()
Construct a mapping from the DOFs of getDofs() to their indices within the Node's list of dependent D...
Definition: InverseKinematics.cpp:1221
IKErrorMethod & setErrorMethod(Args &&... args)
Set the ErrorMethod for this IK module.
Definition: InverseKinematics.hpp:45
IKGradientMethod & setGradientMethod(Args &&... args)
Set the GradientMethod for this IK module.
Definition: InverseKinematics.hpp:55
void setDofs(const std::vector< DegreeOfFreedomT * > &_dofs)
Explicitly set which degrees of freedom should be used to solve the IK for this module.
Definition: InverseKinematics.hpp:70
Analytical * mAnalytical
If mGradientMethod is an Analytical extension, then this will have the same value is mGradientMethod.
Definition: InverseKinematics.hpp:429
std::unique_ptr< ErrorMethod > mErrorMethod
The method that this IK module will use to compute errors.
Definition: InverseKinematics.hpp:419
std::unique_ptr< GradientMethod > mGradientMethod
The method that this IK module will use to compute gradients.
Definition: InverseKinematics.hpp:422
Definition: BulletCollisionDetector.cpp:63