planners/inversekin/IK_InvKinBase.h

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//=========================================================================
//
//  File:  IK_InvKinBase.h
//
//  Created 31-Jul-01 by Shane Schneider
//
//              Planner Base for inverse kinematics planners.
//              Contains the inheritance to the parent forward planners.

#ifndef IK_InvKinBase_h
#define IK_InvKinBase_h 1

#pragma warning( disable : 4250 )

#include "kinematics/Configuration.h"
#include "Geometry/Frame.h"


// PL_Boolean_Output
#include "Planners\PL_Boolean_Output.h"
#include "Planners\PL_OpenGL.h"

//----------- Forward Declarations -----------------

//## Class: IK_InvKinBase%3921BC600296
//## Category: Inverse Planners%36FB140B003C
//## Persistence: Transient
//## Cardinality/Multiplicity: n

class IK_InvKinBase : 
        virtual public PL_Boolean_Output,  //## Inherits: <unnamed>%3921BC73013F
        virtual public PL_OpenGL
{

  public:
          // Default Constructor
          IK_InvKinBase();

    //## Destructor (generated)
      virtual ~IK_InvKinBase();

      virtual bool DrawExplicit () const;

          virtual void DrawUniversePortion() const;

          virtual bool Load (const char *filename);

      virtual bool Plan ();

          virtual bool Save (const char *filename) const;

//        virtual void SetStartConfig( const Configuration& configuration );
//        virtual void SetGoalConfig( const Configuration& config ); 
          void SetGoalFrame( const Matrix4x4& newframe );
          void SetGoalFrame( const Configuration& config );
          void SetGoalFrame( const VectorN& dofVector );
          void SetGoalFrame( const double& x, const double& y, const double& z, 
                                                 const double& roll, const double& pitch, const double& yaw );

          void GetRotAngles( const Matrix4x4& frame, double& x, double& y, double& z,
                                                                 double& roll, double& pitch, double& yaw ) const;
          VectorN GetRotVector( const Matrix4x4& frame ) const;

          // converts from XYZ-RPY to a matrix
          static Matrix4x4 GetTransformFrame
              ( 
                      const double& x, const double& y, const double& z, 
                          const double& roll, const double& pitch, const double& yaw 
                  );
          Matrix4x4 GetTransformFrame( const VectorN& dofVector ) const;
          
          Matrix4x4 GetGoalFrame() const;
          VectorN   GetGoalFrameVector() const;

          // GetToolFrame
          //    Computes the tool frame for a given configuration wrt world frame
          Matrix4x4 GetToolFrame( const Configuration& config ) const;

        // Additional Public Declarations

          virtual void CopySettings( PlannerBase* original );
          
  protected:
        // Additional Implementation Declarations

          // AssignGoalConfig
          //    Locally called function that assigns the computed goal config for the solved
          //    goal frame to the server.
          virtual void AssignGoalConfig( const Configuration& config );

          // InitNewSearch
          //    Abstract function that initiates parameters in derived classes to indicates if a new search
          //    has been requested.
          virtual void InitNewSearch();


    // Additional Protected Declarations
          Matrix4x4 goalFrame;  // Store the goal frame wrt world frame

          //index into the frame manager pointing to the goal frame
          int m_GoalFrameIndex;
      
  private:
    // Additional Private Declarations

  private: //## implementation
    // Additional Implementation Declarations

};


// Class IK_InvKinBase 


#endif

---