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115 lines
3.3 KiB
C++
115 lines
3.3 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "forward_kinematics.h"
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#include <functional>
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#include <iostream>
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IGL_INLINE void igl::forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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const std::vector<Eigen::Vector3d> & dT,
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std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
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std::vector<Eigen::Vector3d> & vT)
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{
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using namespace std;
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using namespace Eigen;
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const int m = BE.rows();
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assert(m == P.rows());
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assert(m == (int)dQ.size());
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assert(m == (int)dT.size());
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vector<bool> computed(m,false);
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vQ.resize(m);
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vT.resize(m);
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// Dynamic programming
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function<void (int) > fk_helper = [&] (int b)
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{
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if(!computed[b])
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{
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if(P(b) < 0)
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{
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// base case for roots
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vQ[b] = dQ[b];
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const Vector3d r = C.row(BE(b,0)).transpose();
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vT[b] = r-dQ[b]*r + dT[b];
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}else
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{
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// Otherwise first compute parent's
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const int p = P(b);
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fk_helper(p);
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vQ[b] = vQ[p] * dQ[b];
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const Vector3d r = C.row(BE(b,0)).transpose();
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vT[b] = vT[p] - vQ[b]*r + vQ[p]*(r + dT[b]);
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}
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computed[b] = true;
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}
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};
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for(int b = 0;b<m;b++)
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{
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fk_helper(b);
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}
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}
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IGL_INLINE void igl::forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
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std::vector<Eigen::Vector3d> & vT)
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{
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std::vector<Eigen::Vector3d> dT(BE.rows(),Eigen::Vector3d(0,0,0));
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return forward_kinematics(C,BE,P,dQ,dT,vQ,vT);
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}
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IGL_INLINE void igl::forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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const std::vector<Eigen::Vector3d> & dT,
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Eigen::MatrixXd & T)
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{
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using namespace Eigen;
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using namespace std;
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vector< Quaterniond,aligned_allocator<Quaterniond> > vQ;
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vector< Vector3d> vT;
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forward_kinematics(C,BE,P,dQ,dT,vQ,vT);
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const int dim = C.cols();
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T.resize(BE.rows()*(dim+1),dim);
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for(int e = 0;e<BE.rows();e++)
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{
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Affine3d a = Affine3d::Identity();
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a.translate(vT[e]);
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a.rotate(vQ[e]);
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T.block(e*(dim+1),0,dim+1,dim) =
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a.matrix().transpose().block(0,0,dim+1,dim);
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}
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}
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IGL_INLINE void igl::forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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Eigen::MatrixXd & T)
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{
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std::vector<Eigen::Vector3d> dT(BE.rows(),Eigen::Vector3d(0,0,0));
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return forward_kinematics(C,BE,P,dQ,dT,T);
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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#endif
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