sim_cinematique_inverse/labo_ik/Armature.h

75 lines
2.3 KiB
C
Raw Permalink Normal View History

2024-04-01 17:18:18 -04:00
#pragma once
2024-04-12 15:25:52 -04:00
/*
* Nom: William Nolin
* Code permanent : NOLW76060101
* Email : william.nolin.1@ens.etsmtl.ca
*/
2024-04-01 17:18:18 -04:00
#include "Math3D.h"
#include <vector>
namespace gti320
{
class Link
{
public:
// Constructor.
// @a _parent = the parent link
// @a _eulerAng = the initial rotation
// @a _trans = the position relative to the parent
//
Link(Link* _parent, const Vector3f& _eulerAng, const Vector3f& _trans);
// Return true if this link is the root, false otherwise.
//
inline bool isRoot() const { return (parent == nullptr); }
// Return true if this link is an endEffector, false otherwise.
//
inline bool isEndEffector() const { return (enfants.size() == 0); }
// Compute the forward kinematics.
//
void forward();
2024-04-06 20:50:36 -04:00
// NOUVELLE FONCTION
// Gets the position of the link from the global rigid transformation matrix.
Vector3f globalPosition();
2024-04-01 17:18:18 -04:00
Vector3f eulerAng; // Euler angles giving rotation relative to the parent.
Vector3f trans; // Translation giving position relative to the parent.
Matrix4f M; // Global rigid transformation of the link, computed in forward().
Link* parent; // Parent of this link (if the root, nullptr)
std::vector<Link*> enfants; // Child links.
};
class Armature
{
public:
// Constructor.
//
Armature();
// Destructor.
//
~Armature();
// Forward kinematics to update the global transforms of all links.
//
void updateKinematics();
// Extract the Euler angles of all links and put them in the dense vector @a theta.
//
void pack(Vector<float, Dynamic>& theta);
// Update the Euler angles of all links on the armature from the vector @a theta.
//
void unpack(const Vector<float, Dynamic>& theta);
std::vector<Link*> links; // All of the articulated links that make-up the armature.
Link* root; // The root link.
};
}