3D-printing/OrcaSlicer
1
0
Fork 0
mirror of https://github.com/SoftFever/OrcaSlicer.git synced 2025-10-25 01:31:14 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 5

Merged branch 'dev_native' into lm_sla_supports_auto

Browse source 
Added igl library files
This commit is contained in:
Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
Download patch file Download diff file Expand all files Collapse all files

74
src/igl/forward_kinematics.h Normal file
View file

@ -0,0 +1,74 @@
// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/.
#ifndef IGL_FORWARD_KINEMATICS_H
#define IGL_FORWARD_KINEMATICS_H
#include "igl_inline.h"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <vector>
namespace igl
{
// Given a skeleton and a set of relative bone rotations compute absolute
// rigid transformations for each bone.
//
// Inputs:
// C #C by dim list of joint positions
// BE #BE by 2 list of bone edge indices
// P #BE list of parent indices into BE
// dQ #BE list of relative rotations
// dT #BE list of relative translations
// Outputs:
// vQ #BE list of absolute rotations
// vT #BE list of absolute translations
IGL_INLINE void forward_kinematics(
const Eigen::MatrixXd & C,
const Eigen::MatrixXi & BE,
const Eigen::VectorXi & P,
const std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
const std::vector<Eigen::Vector3d> & dT,
std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
std::vector<Eigen::Vector3d> & vT);
// Wrapper assuming each dT[i] == {0,0,0}
IGL_INLINE void forward_kinematics(
const Eigen::MatrixXd & C,
const Eigen::MatrixXi & BE,
const Eigen::VectorXi & P,
const std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
std::vector<Eigen::Vector3d> & vT);
// Outputs:
// T #BE*(dim+1) by dim stack of transposed transformation matrices
IGL_INLINE void forward_kinematics(
const Eigen::MatrixXd & C,
const Eigen::MatrixXi & BE,
const Eigen::VectorXi & P,
const std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
const std::vector<Eigen::Vector3d> & dT,
Eigen::MatrixXd & T);
IGL_INLINE void forward_kinematics(
const Eigen::MatrixXd & C,
const Eigen::MatrixXi & BE,
const Eigen::VectorXi & P,
const std::vector<
Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
Eigen::MatrixXd & T);
};
#ifndef IGL_STATIC_LIBRARY
# include "forward_kinematics.cpp"
#endif
#endif