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Kinematic.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MDL_KINEMATIC_H_
31 #define _RL_MDL_KINEMATIC_H_
32 
33 #include <rl/math/Matrix.h>
34 
35 #include "Metric.h"
36 
37 namespace rl
38 {
39  namespace mdl
40  {
41  class Kinematic : public Metric
42  {
43  public:
44  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 
46  Kinematic();
47 
48  virtual ~Kinematic();
49 
50  Model* clone() const;
51 
62  bool calculateInversePosition(const ::rl::math::Transform& x, const ::std::size_t& iterations = 1000);
63 
64  void calculateJacobian();
65 
76 
78 
91 
92  void calculateJacobianInverse(const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true);
93 
99  void calculateJacobianInverse(const ::rl::math::Matrix& J, ::rl::math::Matrix& invJ, const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true) const;
100 
107 
109 
116  void forwardAcceleration();
117 
122  void forwardPosition();
123 
129  void forwardVelocity();
130 
132 
134 
136 
142  void inverseVelocity(const ::rl::math::Real& lambda = 1);
143 
149  bool isSingular() const;
150 
151  bool isSingular(const ::rl::math::Matrix& J) const;
152 
153  virtual void update();
154 
155  protected:
157 
159 
161 
162  private:
163 
164  };
165  }
166 }
167 
168 #endif // _RL_MDL_KINEMATIC_H_