1
0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 22:00:05 +00:00
bullet3/examples/SharedMemory/IKTrajectoryHelper.h

40 lines
1.1 KiB
C++

#ifndef IK_TRAJECTORY_HELPER_H
#define IK_TRAJECTORY_HELPER_H
enum IK2_Method
{
IK2_JACOB_TRANS=0,
IK2_PURE_PSEUDO,
IK2_DLS,
IK2_SDLS ,
IK2_DLS_SVD,
IK2_VEL_DLS,
IK2_VEL_DLS_WITH_ORIENTATION,
IK2_VEL_DLS_WITH_NULLSPACE,
IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE,
IK2_VEL_SDLS,
IK2_VEL_SDLS_WITH_ORIENTATION,
};
class IKTrajectoryHelper
{
struct IKTrajectoryHelperInternalData* m_data;
public:
IKTrajectoryHelper();
virtual ~IKTrajectoryHelper();
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorTargetOrientation[4],
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ, int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose);
bool setDampingCoeff(int numQ, const double* coeff);
};
#endif //IK_TRAJECTORY_HELPER_H