93 lines
3.9 KiB
C
93 lines
3.9 KiB
C
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// -------------------------------------------------------------------------------
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// Copyright (c) 2012, Junggon Kim
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// -------------------------------------------------------------------------------
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//================================================================================
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// GConstraintJointLoop: class for joint-loop constraints
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//
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// junggon@gmail.com
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//================================================================================
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#ifndef _GEAR_CONSTRAINT_JOINTLOOP_
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#define _GEAR_CONSTRAINT_JOINTLOOP_
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#include <list>
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#include "gconstraint.h"
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#include "liegroup.h"
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class GJoint;
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//=============================================================
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// GConstraintJointLoop
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//=============================================================
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class GConstraintJointLoop: public GConstraint
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{
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public:
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enum JOINTLOOP_CONSTRAINT_TYPE
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{
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JOINTLOOP_ORIENTATION_POSITION, // both position and orientation considered
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JOINTLOOP_ORIENTATION_ONLY, // only orientation considered
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JOINTLOOP_POSITION_ONLY, // only position considered
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};
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// constraint: f(joints)*M1 = f(joints2)*M2, if pJoints2.size() > 0
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// f(joints)*M1 = T, if pJoints2.size() = 0
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// Note: Joints in pJoints and pJoints2 must be unique.
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// Cut-joint = pJoints[pJoints.size()-1]
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// M1 = M2 = T = Eye by default.
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std::list<GJoint *> pJoints, pJoints2;
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SE3 M1, M2;
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SE3 T;
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int num_coord, num_coord2;
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JOINTLOOP_CONSTRAINT_TYPE jointLoopConstraintType; // JOINTLOOP_ORIENTATION_POSITION(default) | JOINTLOOP_ORIENTATION_ONLY | JOINTLOOP_POSITION_ONLY
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RMatrix jacobian; // temporary Jacobian matrix (update_dJdt() needs this.)
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public:
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GConstraintJointLoop();
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~GConstraintJointLoop() {}
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public:
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bool setJoints(std::list<GJoint *> pjoints);
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bool setJoints(std::list<GJoint *> pjoints, std::list<GJoint *> pjoints2);
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bool setM(const SE3 &M1_, const SE3 &M2_ = SE3()) { M1 = M1_; M2 = M2_; return true; }
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bool setT(const SE3 &T_) { M2 = T_; return true; }
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void setJointLoopConstraintType(JOINTLOOP_CONSTRAINT_TYPE jointLoopConstraintType_);
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SE3 getLoopSE3(); // return f(joints)*M1
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// virtual functions
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void update_C(); // In addition to C, pJoints[]->(T,inv_T,S) will be updated in this function.
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void update_J(); // pJoints[]->(inv_T, S) need to be updated before calling this function.
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void update_dJdt(); // update_J() need to be called before calling this function.
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std::string getInfoStr();
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};
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#endif
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