---

IKCCD.h

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//
//      Title           : IKCCD.h
//              Project                     : OSCAR Version 2.0          
//      Created         : 3/20/2002
//      Author          : Mike Goza, NASA-JSC, Modified by Chetan Kapoor
//      Platforms       : All
//              Copyright                   : Copyright The University of Texas at Austin, 2002. All rights reserved.
//
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//              Purpose         : To provide an alternative IK solution for multiDOF
//                                                arms. Specifically to solve the < 6 DOF arm problem.
//
//----------------------------------------------------------------------------
//
//              $Revisions$
//
//      $Log: IKCCD.h,v $
//      Revision 1.8  2005/03/14 21:53:28  pmarch
//      Added to namespace OSCAR and removed "RR" from front of class names.
//
//      Revision 1.7  2004/07/29 20:15:49  chetan
//      Minor changes to compile under g++ with -Wall and -pedantic warning flags enabled
//
//      Revision 1.6  2004/07/23 22:20:25  chetan
//      Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//      Revision 1.5  2004/07/14 15:52:30  pmarch
//      Added /defgroup tag to IKCCD class and fixed some variable-naming issues in IKJTranspose
//
//      Revision 1.4  2004/06/04 15:00:29  chetan
//      Changed all joint input types from Vector to JointVector. Suggested by Mike Goza
//
//      Revision 1.2  2004/03/09 20:44:19  pmarch
//      no message
//
//      Revision 1.1  2003/08/18 21:04:10  mtisius
//      Initial commit of inverse kinematics
//
//
#ifndef __IKCCD_H__
#define __IKCCD_H__

#include "ForwardKinematics/FKPosition.h"
#include "InverseKinematics/IKPosition.h"

namespace OSCAR {

  class IKCCD : public IKPosition, public Kinematics
  {

    public:

          IKCCD(const String& fileName,JointVector& initial_joint,double max_error = 0.1, OSCARError& err = DUMMY_ERROR(noError));
    
          IKCCD(const DHData& dhParams,JointVector& initial_joint,double max_error = 0.1);

          virtual ~IKCCD();

      bool GetJointPosition(const Xform& desiredHand, JointVector& jointPosition);
    
      bool GetJointPosition(const HandPose& desiredHandPose, JointVector& jointPosition);

      void GetJointPosition(JointVector& currentJointPosition) const;

          unsigned int GetSolutionProperties() const;
    
    
      void SetTool(const Xform& toolPose);

          void SetTool(const Vector3D& toolPoint);

      void SetBase(const Xform& basePose);

          void SetBase(const Vector3D& basePoint);

      bool SetJointPosition(const JointVector& jointPosition);

      void SetMaximumIterations(unsigned int noIterations);

      unsigned int GetMaximumIterations(void) const;

      bool SetErrorTolerance(double maxError);

      bool GetErrorTolerance(double& maxError);

          bool SetWeightFactors( Vector &weightA );
          bool GetWeightFactors( Vector &weightA );

          long SetActiveCoordinates( const bool *activeA );
          long GetActiveCoordinates( bool *activeA=NULL );

          bool SetOffsets( JointVector &offsetA );
          bool GetOffsets( JointVector &offsetA );

          bool SetMinMax( JointVector &minA, JointVector &maxA );
          bool GetMinMax( JointVector &minA, JointVector &maxA );

          virtual void CheckDependencies( JointVector& /*jntA */ ) {};

  protected:
          unsigned int max_iterationM;
          unsigned int solutionIterationCount;
          double max_errorM;
          unsigned int dofM;
          Vector weightM;
          JointVector offsetM;
          JointVector jointsM;
          JointVector minM;
          JointVector maxM;
          bool activeM[6];
          FKPosition *forkinM;
  };

}
#endif  // __IKCCD_H__

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