IkFast.hpp

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#ifndef DART_DYNAMICS_IKFAST_HPP_
#define DART_DYNAMICS_IKFAST_HPP_

#include <array>

#define IKFAST_HAS_LIBRARY
#include "dart/external/ikfast/ikfast.h"

#include "dart/dynamics/InverseKinematics.hpp"

namespace dart {
namespace dynamics {

class IkFast : public InverseKinematics::Analytical
{
public:
  // Following conversion is referred from:
  // https://github.com/rdiankov/openrave/blob/b1ebe135b4217823ebdf56d9af5fe89b29723603/include/openrave/openrave.h#L575-L623
  enum IkType
  {
    TRANSFORM_6D,

    ROTATION_3D,

    TRANSLATION_3D,

    DIRECTION_3D,

    RAY_4D,

    LOOKAT_3D,

    TRANSLATION_DIRECTION_5D,

    TRANSLATION_XY_2D,

    TRANSLATION_XY_ORIENTATION_3D,

    TRANSLATION_LOCAL_GLOBAL_6D,

    TRANSLATION_X_AXIS_ANGLE_4D,

    TRANSLATION_Y_AXIS_ANGLE_4D,

    TRANSLATION_Z_AXIS_ANGLE_4D,

    TRANSLATION_X_AXIS_ANGLE_Z_NORM_4D,

    TRANSLATION_Y_AXIS_ANGLE_X_NORM_4D,

    TRANSLATION_Z_AXIS_ANGLE_Y_NORM_4D,

    UNKNOWN,
  };

  IkFast(
      InverseKinematics* ik,
      const std::vector<std::size_t>& dofMap,
      const std::vector<std::size_t>& freeDofMap,
      const std::string& methodName = "IKFast",
      const Analytical::Properties& properties = Analytical::Properties());

  // Documentation inherited.
  const std::vector<InverseKinematics::Analytical::Solution>& computeSolutions(
      const Eigen::Isometry3d& desiredBodyTf) override;

  Eigen::Isometry3d computeFk(const Eigen::VectorXd& parameters);

  const std::vector<std::size_t>& getDofs() const override;

  const std::vector<std::size_t>& getFreeDofs() const;

  virtual bool isConfigured() const;

  std::size_t getNumFreeParameters2() const;
  // TODO(JS): Rename to getNumFreeParameters() in DART 7

  std::size_t getNumJoints2() const;
  // TODO(JS): Rename to getNumJoints in DART 7

  IkType getIkType2() const;
  // TODO(JS): Rename to getIkType() in DART 7

  const std::string getKinematicsHash2() const;
  // TODO(JS): Rename to getKinematicsHash() in DART 7

  std::string getIkFastVersion2() const;
  // TODO(JS): Rename to getIkFastVersion() in DART 7

protected:
  virtual int getNumFreeParameters() const = 0;
  // TODO(JS): Remove in DART 7

  virtual int* getFreeParameters() const = 0;
  // TODO(JS): Remove in DART 7

  virtual int getNumJoints() const = 0;
  // TODO(JS): Remove in DART 7

  virtual int getIkRealSize() const = 0;

  virtual int getIkType() const = 0;

  virtual bool computeIk(
      const IkReal* targetTranspose,
      const IkReal* targetRotation,
      const IkReal* pfree,
      ikfast::IkSolutionListBase<IkReal>& solutions)
      = 0;

  virtual void computeFk(
      const IkReal* parameters, IkReal* targetTranspose, IkReal* targetRotation)
      = 0;

  virtual const char* getKinematicsHash() = 0;
  // TODO(JS): Rename in DART 7

  virtual const char* getIkFastVersion() = 0;
  // TODO(JS): Rename in DART 7

  virtual void configure() const;

  mutable std::vector<double> mFreeParams;

  mutable bool mConfigured;

  mutable std::vector<std::size_t> mDofs;

  mutable std::vector<std::size_t> mFreeDofs;

private:
  std::array<IkReal, 9> mTargetRotation;

  std::array<IkReal, 3> mTargetTranspose;
};

bool wrapCyclicSolution(double curr, double lb, double ub, double& sol);

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_IKFAST_HPP_