2016-08-30 21:44:11 +00:00
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#ifndef IK_TRAJECTORY_HELPER_H
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#define IK_TRAJECTORY_HELPER_H
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enum IK2_Method
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{
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IK2_JACOB_TRANS=0,
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IK2_PURE_PSEUDO,
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IK2_DLS,
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IK2_SDLS ,
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2016-09-20 00:04:05 +00:00
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IK2_DLS_SVD,
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2016-09-22 20:27:09 +00:00
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IK2_VEL_DLS,
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IK2_VEL_DLS_WITH_ORIENTATION,
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2016-09-30 05:45:31 +00:00
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IK2_VEL_DLS_WITH_NULLSPACE,
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2016-09-30 07:05:00 +00:00
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IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE,
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2016-08-30 21:44:11 +00:00
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};
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class IKTrajectoryHelper
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{
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struct IKTrajectoryHelperInternalData* m_data;
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public:
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IKTrajectoryHelper();
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virtual ~IKTrajectoryHelper();
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2016-09-27 23:37:49 +00:00
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bool computeIK(const double endEffectorTargetPosition[3],
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const double endEffectorTargetOrientation[4],
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const double endEffectorWorldPosition[3],
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const double endEffectorWorldOrientation[4],
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const double* q_old, int numQ, int endEffectorIndex,
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double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
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2016-08-30 21:44:11 +00:00
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2016-09-30 08:03:40 +00:00
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bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose);
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2017-02-01 06:58:37 +00:00
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bool setDampingCoeff(int numQ, const double* coeff);
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2016-09-30 05:45:31 +00:00
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2016-08-30 21:44:11 +00:00
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};
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#endif //IK_TRAJECTORY_HELPER_H
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