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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef DART_TEST_SHAREDLIBRARYWAMIKFAST_HPP_
#define DART_TEST_SHAREDLIBRARYWAMIKFAST_HPP_
#include "dart/common/SharedLibrary.hpp"
#include "dart/dynamics/IkFast.hpp"
class SharedLibraryWamIkFast : public dart::dynamics::IkFast
{
public:
SharedLibraryWamIkFast(
dart::dynamics::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());
// Documentation inherited.
auto clone(dart::dynamics::InverseKinematics* newIK) const
-> std::unique_ptr<GradientMethod> override;
protected:
// Documentation inherited.
int getNumFreeParameters() const override;
// Documentation inherited.
int* getFreeParameters() const override;
// Documentation inherited.
int getNumJoints() const override;
// Documentation inherited.
int getIkRealSize() const override;
// Documentation inherited.
int getIkType() const override;
// Documentation inherited.
bool computeIk(
const IkReal* targetTranspose,
const IkReal* targetRotation,
const IkReal* freeParams,
ikfast::IkSolutionListBase<IkReal>& solutions) override;
// Documentation inherited.
void computeFk(
const IkReal* parameters,
IkReal* targetTranspose,
IkReal* targetRotation) override;
// Documentation inherited.
const char* getKinematicsHash() override;
// Documentation inherited.
const char* getIkFastVersion() override;
};
#endif // DART_TEST_SHAREDLIBRARYWAMIKFAST_HPP_
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