PinDragIK.h

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#ifndef CNOID_BODY_PIN_DRAG_IK_H
#define CNOID_BODY_PIN_DRAG_IK_H
 
#include "InverseKinematics.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
class Link;
class PinDragIKImpl;
 
class CNOID_EXPORT PinDragIK : public InverseKinematics
{
public:
    PinDragIK(Body* body);
    ~PinDragIK();
 
    Body* body() const;
  
    void setBaseLink(Link* baseLink);
    void setFreeRootWeight(double translation, double rotation);
    void setTargetLink(Link* targetLink, bool isAttitudeEnabled = false);
    void setJointWeight(int jointId, double weight);
 
    enum AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 };
    void setPin(Link* link, AxisSet axes = TRANSLATION_3D, double weight = 1.0);
    AxisSet pinAxes(Link* link);
    void clearPins();
    int numPinnedLinks();
            
    void setIKErrorThresh(double e);
    bool hasAnalyticalIK();
    AxisSet targetAxes() const;
    void setSRInverseParameters(double k0, double w0);
    void enableJointRangeConstraints(bool on);
 
    bool initialize();
 
    virtual bool calcInverseKinematics(const Isometry3& T) override;
 
private:
    PinDragIKImpl* impl;
};
 
}
 
#endif