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Model.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_PLAN_MODEL_H_
31 #define _RL_PLAN_MODEL_H_
32 
33 #include <rl/kin/Kinematics.h>
34 #include <rl/math/Transform.h>
35 #include <rl/math/Vector.h>
36 #include <rl/sg/Model.h>
37 #include <rl/sg/Scene.h>
38 
39 namespace rl
40 {
41  namespace plan
42  {
43  class Model
44  {
45  public:
46  Model();
47 
48  virtual ~Model();
49 
50  virtual void clip(::rl::math::Vector& q) const;
51 
53 
54  virtual void forwardForce(const ::rl::math::Vector& tau, ::rl::math::Vector& f) const;
55 
56  virtual const ::rl::math::Transform& forwardPosition(const ::std::size_t& i = 0) const;
57 
58  virtual void forwardVelocity(const ::rl::math::Vector& qdot, ::rl::math::Vector& xdot) const;
59 
60  virtual ::rl::sg::Body* getBody(const ::std::size_t& i) const;
61 
62  virtual ::std::size_t getBodies() const;
63 
64  virtual ::rl::math::Vector3& getCenter(const ::std::size_t& i) const;
65 
66  virtual ::std::size_t getDof() const;
67 
68  virtual const ::rl::math::Transform& getFrame(const ::std::size_t& i) const;
69 
70  virtual const ::rl::math::Matrix& getJacobian() const;
71 
73 
74  virtual ::rl::math::Real getMaximum(const ::std::size_t& i) const;
75 
76  virtual ::rl::math::Real getMinimum(const ::std::size_t& i) const;
77 
78  virtual ::std::size_t getOperationalDof() const;
79 
80  virtual void inverseForce(const ::rl::math::Vector& f, ::rl::math::Vector& tau) const;
81 
83 
84  virtual void inverseVelocity(const ::rl::math::Vector& tdot, ::rl::math::Vector& qdot) const;
85 
87 
88  virtual bool isSingular() const;
89 
90  virtual bool isValid(const ::rl::math::Vector& q) const;
91 
93 
95 
97 
98  virtual ::rl::math::Real newDistance(const ::rl::math::Real& dist, const ::rl::math::Real& oldOff, const ::rl::math::Real& newOff, const int& cuttingDimension) const;
99 
100  virtual void reset();
101 
102  virtual void setPosition(const ::rl::math::Vector& q);
103 
104  virtual void step(const ::rl::math::Vector& q1, const ::rl::math::Vector& qdot, ::rl::math::Vector& q2) const;
105 
107 
109 
110  virtual void updateFrames();
111 
112  virtual void updateJacobian();
113 
114  virtual void updateJacobianInverse(const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true);
115 
117 
119 
121 
122  protected:
123 
124  private:
125 
126  };
127  }
128 }
129 
130 #endif // _RL_PLAN_MODEL_H_