reference/latest/CompositeIK_8h_source.html

#ifndef CNOID_BODY_COMPOSITE_IK_H

#define CNOID_BODY_COMPOSITE_IK_H


#include "InverseKinematics.h"

#include <cnoid/Referenced>

#include <vector>

#include <memory>

#include "exportdecl.h"


namespace cnoid {


class Body;

class Link;

class LinkTraverse;

class JointPath;


class CNOID_EXPORT CompositeIK : public InverseKinematics

{

public:

    CompositeIK();

    CompositeIK(Body* body, Link* targetLink);


    void reset(Body* body, Link* targetLink);

    bool addBaseLink(Link* link);


    Body* body() { return body_; }

    Link* targetLink() { return targetLink_; }

    int numJointPaths() const { return paths.size(); }

    std::shared_ptr<JointPath> jointPath(int index) const { return paths[index]; }

    Link* baseLink(int index) const;


    void setMaxIkError(double e);

    bool hasCustomIK() const { return hasCustomIK_; }


    virtual bool calcInverseKinematics(const Isometry3& T) override;

    virtual bool calcRemainingPartForwardKinematicsForInverseKinematics() override;


    [[deprecated("Use calcInverseKinematics(const Isometry3& T).")]]

    bool calcInverseKinematics(const Vector3& p, const Matrix3& R) {

        return InverseKinematics::calcInverseKinematics(p, R);

    }

    [[deprecated("Use setMaxIkError.")]]

    void setMaxIKerror(double e) { setMaxIkError(e); }

    [[deprecated("Use hasCustomIK.")]]

    bool hasAnalyticalIK() const { return hasCustomIK(); }


private:

    ref_ptr<Body> body_;

    Link* targetLink_;

    std::vector<std::shared_ptr<JointPath>> paths;

    std::vector<double> q0;

    std::shared_ptr<LinkTraverse> remainingLinkTraverse;

    bool hasCustomIK_;

};


}


#endif