---

FKJacobian.h

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//
//       Title           : FKJacobian.h
//       Project         : OSCAR
//       Created         : Thu Feb  8 10:15:06 1996
//       Author          : Chetan Kapoor
//       Platforms       : All
//       Copyright       : The University of Texas at Austin
//                         All Rights Reserved.
//       Access          : Company Confidential
//       Purpose         : Forward Kinematics Class for computing the jacobian  
//
//----------------------------------------------------------------------------
//
//       Classes:
//               <none>
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: FKJacobian.h,v $
//       Revision 1.7  2007/02/28 19:03:55  pmarch
//       Added ConvertVelocityToFixedXYZ() method.
//
//       Revision 1.6  2007/02/01 19:05:19  chetan
//       Added another method
//
//       Revision 1.5  2005/03/14 21:52:58  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.4  2004/07/23 22:19:49  chetan
//       Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//       Revision 1.3  2004/07/08 19:22:48  chetan
//       Changed activeInputs declared in FKJacobian.C to a pointer.  This is done so that it is created after SUCCESSFUL base class initialization. Previously, it was being initialized in the constructor of FKKJacobian as size DOF without any checks for successful base class initialization
//
//       Revision 1.2  2004/05/26 20:10:11  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.1  2003/08/18 20:32:20  pmarch
//       Initial commit of ForwardKinematics
//
//
#ifndef FKJacobian_hpp
#define FKJacobian_hpp

#include "Math/JointVector.h"
#include "ForwardKinematics/FKPosition.h"
#include "ForwardKinematics/FKJacobianBase.h"

namespace OSCAR {


  class FKJacobian      :       public FKPosition, public FKJacobianBase
  {
  public:
    enum JacobianType {Full = 0, Partial = 1};

    FKJacobian(const String& dhFilename, OSCARError& err = DUMMY_ERROR(noError));


    FKJacobian(const DHData& dhParams, OSCARError& err = DUMMY_ERROR(noError));

    FKJacobian(const FKJacobian& fkj);

    FKJacobian& operator=(const FKJacobian& fkj);

    bool SetActiveOutputs( const CoordinateStatusArray& activeOutputs );


    const CoordinateStatusArray& GetActiveOutputs( ) const;

    unsigned int GetNumberOfActiveOutputs( ) const;
  
    const Matrix* GetJacobian( JacobianType JType = Partial);

    const Matrix* GetPreviouslyComputedJacobian( JacobianType JType = Partial);

    const Matrix* GetJacobian( const Vector& jointVector);


    const Matrix* GetJacobian( const JointVector& jointVector);

          const Matrix* GetJacobianTranspose( JacobianType JacobianType = Partial) ;

    bool ConvertVelocityToFixedXYZ(const OSCAR::HandPose& handPosition, OSCAR::HandPose& handVelocity);

    virtual ~FKJacobian();
  protected:
    CoordinateSpace activeOutputs;
    CoordinateSpace* activeInputs;
    unsigned int nActiveOutputs;
    unsigned int nActiveInputs;
          
    Matrix*   jacobian;  // holds [6 x n] Jacobian
    Matrix*   jacobianTranspose;
    Matrix*   partialJacobian; // holds [nActiveOutpus x nActiveInputs] Jacobian
    Matrix*   partialJacobianTranspose;
    
    virtual void        calculateJacobian(void);
    virtual void        calculateJacobianColumn(int jointNo);
    virtual void  extractPartialJacobian( );
    virtual void  resizePartialJacobian( );

  };

  #include "ForwardKinematics/FKJacobian.ipp"

}
#endif  //FKJacobian_hpp

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