---

IKJAvoidLimits.h

Go to the documentation of this file.

//
//      Title           :  IKJAvoidLimits.h
//      Project         :  OSCAR Version 2.0
//      Created         :  Thu Nov 30 07:52:08 1995
//      Author          :  Chetan Kapoor & Peter March
//              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//          This software and documentation constitute an unpublished work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         :
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: IKJAvoidLimits.h,v $
//       Revision 1.9  2005/03/14 21:53:31  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.8  2005/01/11 16:08:09  pmarch
//       Set default template parameter to FKJacobian and added additional commenting.
//
//       Revision 1.7  2005/01/10 18:54:00  chetan
//       Fixed documentation
//
//       Revision 1.6  2005/01/10 17:35:58  pmarch
//       Added template parameter to IKJacobian-based objects to allow user to supply custom forward kinematics object.
//
//       Revision 1.5  2004/07/27 16:43:26  chetan
//       Made changes to compile with Warning Level 4 and also under the latest C++ standard. Also made compilable with VC extensions turned off. Mostly carriage returns at the end of a file.
//
//       Revision 1.4  2004/07/23 22:20:27  chetan
//       Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//       Revision 1.3  2004/05/26 20:15:34  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.2  2004/04/22 18:08:22  eswint
//       - Changed constructor of IKJacobian to take const JointVector, reflected in changes to constructors for IKJReconfig & IKJAvoidLimits and IJKAvoidLimits::computeWeightingMatrix
//
//       Revision 1.1  2003/08/18 21:04:06  mtisius
//       Initial commit of inverse kinematics
//
//
#ifndef IKJAvoidLimits_hpp
#define IKJAvoidLimits_hpp

#include "InverseKinematics/IKJReconfig.h"
#include "InverseKinematics/IKErrors.h"
#include "FileData/MatrixData.h"

namespace OSCAR {
  template <class JacobianType=FKJacobian>
  class IKJAvoidLimits : public IKJReconfig<JacobianType>
  {

    public:

          IKJAvoidLimits(const JointVector& initialJointPosition, 
                      JacobianType* fkJacobian,
                      MatrixData& limitsData,
                      OSCARError& err = DUMMY_ERROR(noError),
                      EqnSolver* solver = 0, 
                      double maxError = 0.1, 
                      double rtScale = 1000.0);

          IKJAvoidLimits(JointVector& initialJointPosition, 
                      JacobianType* fkJacobian,
                      const String& limitsFile,
                      OSCARError& err = DUMMY_ERROR(noError),
                      EqnSolver* solver = 0, 
                      double maxError = 0.1, 
                      double rtScale = 1000.0);

          IKJAvoidLimits(const IKJAvoidLimits& rhs);

          IKJAvoidLimits& operator=(const IKJAvoidLimits& rhs);

          virtual ~IKJAvoidLimits();


      bool GetJointVelocity(const HandPose& handVelocity, JointVector& jointVelocitySolution);


    bool SetLimits(const Matrix& limits, AngleUnits angleFlag=Degrees);


    bool GetLimits(Matrix& limits, AngleUnits angleFlag=Degrees) const;

  

  protected:
    Matrix* weights;
    Matrix* jointLimits;
    Vector* jointMedian;
    Vector* jointRange;

    void ClearWeights();
    virtual bool inverse();
    bool computeWeightingMatrix(const JointVector& currJoints);
    bool computeJointVectors(void);
  };
  #include "InverseKinematics/IKJAvoidLimits.ipp"

}
#endif  // IKJacobian_hpp

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