ik.h Source File

00001 /*
00002     Dynamics/Kinematics modeling and simulation library.
00003     Copyright (C) 1999 by Michael Alexander Ewert
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019 */
00020 
00021 #ifndef __CT_IK_H__
00022 #define __CT_IK_H__
00023 
00024 #include "csphyzik/solver.h"
00025 
00030 #define DEFAULT_MAX_QV 0.5;
00031 
00032 class ctArticulatedBody;
00033 
00038 class ctInverseKinematics : public ctArticulatedGoalSolver
00039 {
00040 public:
00041   ctInverseKinematics( ctArticulatedBody &pab )
00042     : ab( pab ) { max_qv = DEFAULT_MAX_QV; };
00043 
00044   virtual void solve( real t );
00045 
00046   // values relative to it's body frame
00047   ctVector3 get_linear_a ()
00048   { return ctVector3(0.0, 0.0, 0.0); }
00049 
00050   ctVector3 get_angular_a ()
00051   { return ctVector3(0.0, 0.0, 0.0); }
00052 
00053   void apply_impulse ( ctVector3 /*impulse_point*/, ctVector3 /*impulse_vector*/ )
00054   {};
00055 
00056   void get_impulse_m_and_I_inv ( real* /*pm*/, ctMatrix3* /*pI_inv*/,
00057                                  const ctVector3& /*impulse_point*/,
00058                                  const ctVector3& /*impulse_vector*/ ) {}
00059 
00060 
00061 protected:
00062   void solve_IK ( real t, ctVector3 &the_goal, ctVector3 &end_effector );
00063   void compute_joint_angle ( real t,
00064                              ctVector3 &the_goal, ctVector3 &end_effector );
00065   ctArticulatedBody &ab;
00066   real max_qv;
00067 
00068 };
00069 
00070 #endif // __CT_IK_H__