43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#pragma once
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#include "Math3D.h"
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namespace gti320
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{
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class Armature;
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typedef Matrix<float, 3, Dynamic, ColumnStorage> Jacobianf;
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// An inverse kinematics solver for a simple armature.
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//
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class IKSolver
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{
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public:
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// Constructor.
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// @a _armature = The armature (see class Armature).
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// @a _targetPos = A reference to the target position of the end effector.
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//
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IKSolver(Armature* _armature, Vector3f& _targetPos);
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// Execute one solver step.
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// A gradient descent method with line search is used.
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// Euler angles of the armature links are automatically computed and updated.
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//
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void solve();
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// Return the error as the distance between the end effector and the target position.
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// The displacement vector @a _dx is updated with the value:
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// _dx = m_targetPos - f(theta)
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//
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float getError(Vector3f& _dx) const;
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private:
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Armature* m_armature; // The armature.
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Vector3f& m_targetPos; // The target position of the end effector.
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Jacobianf m_J; // The end effector Jacobian.
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};
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}
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