---

IKJGenerateOptions.h

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//
//      Title           : IKJGenerateOptions.h
//      Project         : OSCAR Version 2.0
//      Created         : March 3 14:05:48 2003
//      Author          : Chalongrath Pholsiri
//      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//          This software and documentation constitute an unpublished work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         : Inverse object that returns a set of possible solns.
//
//----------------------------------------------------------------------------
//
//      $Revisions$
//
//      $Log: IKJGenerateOptions.h,v $
//      Revision 1.12  2005/06/20 19:35:27  josh
//      Made the first argument in the constructor (JointVector&) const.
//
//      Revision 1.11  2005/03/25 22:03:38  josh
//      Added copy constructor and assignment operator.
//
//      Revision 1.10  2005/03/17 15:56:08  josh
//      Changed internal IK from IKJReconfig to IKJacobian to make it more generic. If you need ability to lock joints (Exact method for SetNullJointMethod), then must pass a pointer to IKJReconfig.
//
//      Revision 1.9  2005/03/14 23:02:28  josh
//      Fixed errors from move to OSCAR namespace.
//
//      Revision 1.8  2005/03/14 21:53:31  pmarch
//      Added to namespace OSCAR and removed "RR" from front of class names.
//
//      Revision 1.7  2005/01/11 16:08:09  pmarch
//      Set default template parameter to FKJacobian and added additional commenting.
//
//      Revision 1.6  2005/01/10 18:54:00  chetan
//      Fixed documentation
//
//      Revision 1.5  2005/01/10 17:35:59  pmarch
//      Added template parameter to IKJacobian-based objects to allow user to supply custom forward kinematics object.
//
//      Revision 1.4  2004/09/27 18:51:11  aspencer
//      Clarified what the return value of "GetJointPositions" means
//
//      Revision 1.3  2004/07/23 22:20:28  chetan
//      Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//      Revision 1.2  2004/05/26 20:15:34  pmarch
//      Added /defgroup and /ingroup tags.
//
//      Revision 1.1  2003/08/18 21:04:05  mtisius
//      Initial commit of inverse kinematics
//
//
#ifndef IKJGenerateOptions_hpp
#define IKJGenerateOptions_hpp

#include "DecisionMaking/Perturbation.h"
#include "IKJacobian.h"

namespace OSCAR {
  template <class JacobianType=FKJacobian>
  class IKJGenerateOptions : public virtual Base
  {

    public:     

          enum NullJointMethod { Exact, Approximate };

  IKJGenerateOptions(const JointVector& initialJointPosition, IKJacobian<JacobianType>* ik, Perturbation *perturb,
                                                                  NullJointMethod method = Approximate, OSCARError& err = DUMMY_ERROR(noError));

        IKJGenerateOptions(const IKJGenerateOptions &rhs);
        
        IKJGenerateOptions& operator=(const IKJGenerateOptions &rhs);

          virtual ~IKJGenerateOptions();

      virtual bool GetJointPositions(const Xform& desiredHandMatrix, VectorArray& jointPositions);
    
      virtual bool GetJointPositions(const HandPose& desiredHand, VectorArray& jointPositions);   

      bool GetJointPosition(JointVector& jointPosition) const;

      bool SetJointPosition(const JointVector& jointPosition);

                  int SetNullJoints(const CoordinateStatusArray& nullJoints);

          bool SetNullJointMethod(const NullJointMethod method);

      bool GetSolutionProperties(Vector& MOTs) const;

      bool GetSolutionProperties(BoolArray& validity) const;

          void Reallocate(unsigned int noOptions);

  protected:
          // Protected members
          unsigned int          DOF;
          unsigned int          noOfOptions;
          IKJacobian<JacobianType>              *invkin;
          Perturbation  *perturbation;
          JointVector   *currentJointVector;
          JointVector           *baseSolution;
          JointVector           *baseJointVector;
          VectorArray           *perturbedJoints;
          JointVector           *solution;
          JointVector           *perturbedJoint;
          NullJointMethod               nullJoint;

  // solutions properties
          Vector                        *MOTs;
          BoolArray             *valids;

  };

  #include "IKJGenerateOptions.ipp"

}
#endif //IKJGenerateOptions_hpp

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