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Rhino.h
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2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_KIN_RHINO_H_
31 #define _RL_KIN_RHINO_H_
32 
33 #include "Kinematics.h"
34 
35 namespace rl
36 {
37  namespace kin
38  {
42  class Rhino : public Kinematics
43  {
44  public:
45  enum Arm
46  {
47  ARM_LEFT = -1,
49  };
50 
51  enum Elbow
52  {
55  };
56 
57  Rhino();
58 
59  virtual ~Rhino();
60 
61  virtual Kinematics* clone() const;
62 
63  Arm getArm() const;
64 
65  Elbow getElbow() const;
66 
67  bool inversePosition(const ::rl::math::Transform& t, ::rl::math::Vector& q, const ::std::size_t& iterations = 1000);
68 
70 
71  void setArm(const Arm& arm);
72 
73  void setElbow(const Elbow& elbow);
74 
75  protected:
76 
77  private:
78  template< typename T > T atan2(const T& y, const T& x) const
79  {
80  T a = ::std::atan2(y, x);
81  return (::std::abs(a) <= 1.0e-6f) ? 0.0f : a;
82  }
83 
84  template< typename T > T cos(const T& x) const
85  {
86  T c = ::std::cos(x);
87  return (::std::abs(c) <= 1.0e-6f) ? 0.0f : c;
88  }
89 
90  template< typename T > T sin(const T& x) const
91  {
92  T s = ::std::sin(x);
93  return (::std::abs(s) <= 1.0e-6f) ? 0.0f : s;
94  }
95 
97 
99  };
100  }
101 }
102 
103 #endif // _RL_KIN_RHINO_H_