Kinematics.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#ifndef RL_KIN_KINEMATICS_H
#define RL_KIN_KINEMATICS_H
 
#include <memory>
#include <string>
#include <vector>
#include <boost/graph/adjacency_list.hpp>
#include <rl/math/Transform.h>
#include <rl/math/Unit.h>
#include <rl/math/Vector.h>
 
namespace rl
{
    namespace kin
    {
        class Element;
        class Frame;
        class Link;
        class Joint;
        class Transform;
        
        class Kinematics
        {
        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
            
            Kinematics();
            
            virtual ~Kinematics();
            
            bool areColliding(const ::std::size_t& i, const ::std::size_t& j) const;
            
            virtual void clip(::rl::math::Vector& q) const;
            
            virtual Kinematics* clone() const;
            
            static Kinematics* create(const ::std::string& filename);
            
            virtual ::rl::math::Real distance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
            virtual const ::rl::math::Transform& forwardPosition(const ::std::size_t& i = 0) const;
            
            virtual void forwardForce(const ::rl::math::Vector& tau, ::rl::math::Vector& f) const;
            
            virtual void forwardVelocity(const ::rl::math::Vector& qdot, ::rl::math::Vector& xdot) const;
            
            ::rl::math::Vector generatePositionGaussian(const ::rl::math::Vector& rand, const ::rl::math::Vector& mean, const ::rl::math::Vector& sigma) const;
            
            ::rl::math::Vector generatePositionUniform(const ::rl::math::Vector& rand) const;
            
            ::std::size_t getBodies() const;
            
            ::std::size_t getDof() const;
            
            const ::rl::math::Transform& getFrame(const ::std::size_t& i) const;
            
            const ::rl::math::Matrix& getJacobian() const;
            
            const ::rl::math::Matrix& getJacobianInverse() const;
            
            Joint* getJoint(const ::std::size_t& i) const;
            
            ::rl::math::Real getManipulabilityMeasure() const;
            
            ::std::string getManufacturer() const;
            
            ::rl::math::Real getMaximum(const ::std::size_t& i) const;
            
            void getMaximum(::rl::math::Vector& max) const;
            
            ::rl::math::Real getMinimum(const ::std::size_t& i) const;
            
            void getMinimum(::rl::math::Vector& min) const;
            
            ::std::string getName() const;
            
            ::std::size_t getOperationalDof() const;
            
            void getPosition(::rl::math::Vector& q) const;
            
            void getPositionUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1>& units) const;
            
            void getSpeed(::rl::math::Vector& speed) const;
            
            void getSpeedUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1>& units) const;
            
            virtual void interpolate(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2, const ::rl::math::Real& alpha, ::rl::math::Vector& q) const;
            
            virtual void inverseForce(const ::rl::math::Vector& f, ::rl::math::Vector& tau) const;
            
            virtual ::rl::math::Real inverseOfTransformedDistance(const ::rl::math::Real& d) const;
            
            virtual bool inversePosition(
                const ::rl::math::Transform& x,
                ::rl::math::Vector& q,
                const ::std::size_t& leaf = 0,
                const ::rl::math::Real& delta = ::std::numeric_limits< ::rl::math::Real>::infinity(),
                const ::rl::math::Real& epsilon = 1.0e-3f,
                const ::std::size_t& iterations = 1000
            );
            
            virtual void inverseVelocity(const ::rl::math::Vector& xdot, ::rl::math::Vector& qdot) const;
            
            bool isColliding(const ::std::size_t& i) const;
            
            virtual bool isSingular() const;
            
            virtual bool isValid(const ::rl::math::Vector& q) const;
            
            virtual ::rl::math::Real maxDistanceToRectangle(const ::rl::math::Vector& q, const ::rl::math::Vector& min, const ::rl::math::Vector& max) const;
            
            virtual ::rl::math::Real minDistanceToRectangle(const ::rl::math::Vector& q, const ::rl::math::Vector& min, const ::rl::math::Vector& max) const;
            
            virtual ::rl::math::Real minDistanceToRectangle(const ::rl::math::Real& q, const ::rl::math::Real& min, const ::rl::math::Real& max, const ::std::size_t& cuttingDimension) const;
            
            virtual ::rl::math::Real newDistance(const ::rl::math::Real& dist, const ::rl::math::Real& oldOff, const ::rl::math::Real& newOff, const int& cuttingDimension) const;
            
            void setColliding(const ::std::size_t& i, const bool& doesCollide);
            
            void setColliding(const ::std::size_t& i, const ::std::size_t& j, const bool& doCollide);
            
            void setPosition(const ::rl::math::Vector& q);
            
            virtual void step(const ::rl::math::Vector& q1, const ::rl::math::Vector& qdot, ::rl::math::Vector& q2) const;
            
            ::rl::math::Transform& tool(const ::std::size_t& i = 0);
            
            const ::rl::math::Transform& tool(const ::std::size_t& i = 0) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Real& d) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Real& q1, const ::rl::math::Real& q2, const ::std::size_t& i) const;
            
            virtual void updateFrames();
            
            virtual void updateJacobian();
            
            virtual void updateJacobianInverse(const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true);
            
            ::rl::math::Transform& world();
            
            const ::rl::math::Transform& world() const;
            
        protected:
            typedef ::boost::adjacency_list<
                ::boost::vecS,
                ::boost::vecS,
                ::boost::bidirectionalS,
                ::std::shared_ptr<Frame>,
                ::std::shared_ptr<Transform>,
                ::boost::no_property,
                ::boost::vecS
            > Tree;
            
            typedef ::boost::graph_traits<Tree>::edge_descriptor Edge;
            
            typedef ::boost::graph_traits<Tree>::edge_iterator EdgeIterator;
            
            typedef ::std::pair<EdgeIterator, EdgeIterator> EdgeIteratorPair;
            
            typedef ::boost::graph_traits<Tree>::in_edge_iterator InEdgeIterator;
            
            typedef ::std::pair<InEdgeIterator, InEdgeIterator> InEdgeIteratorPair;
            
            typedef ::boost::graph_traits<Tree>::out_edge_iterator OutEdgeIterator;
            
            typedef ::std::pair<OutEdgeIterator, OutEdgeIterator> OutEdgeIteratorPair;
            
            typedef ::boost::graph_traits<Tree>::vertex_descriptor Vertex;
            
            typedef ::boost::graph_traits<Tree>::vertex_iterator VertexIterator;
            
            typedef ::std::pair<VertexIterator, VertexIterator> VertexIteratorPair;
            
            void update();
            
            void update(Vertex& u);
            
            ::std::vector<Element*> elements;
            
            ::std::vector<Frame*> frames;
            
            ::std::vector<Vertex> leaves;
            
            ::std::vector<Link*> links;
            
            ::rl::math::Matrix jacobian;
            
            ::rl::math::Matrix jacobianInverse;
            
            ::std::vector<Joint*> joints;
            
            ::std::string manufacturer;
            
            ::std::string name;
            
            Vertex root;
            
            ::std::vector<Edge> tools;
            
            ::std::vector<Transform*> transforms;
            
            Tree tree;
            
        private:
            
        };
    }
}
 
#endif // RL_KIN_KINEMATICS_H