IK_QJacobianSolver.h

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/* SPDX-FileCopyrightText: 2001-2002 NaN Holding BV. All rights reserved.
 *
 * SPDX-License-Identifier: GPL-2.0-or-later */
 
#pragma once
 
#include <list>
#include <vector>
 
#include "IK_Math.h"
#include "IK_QJacobian.h"
#include "IK_QSegment.h"
#include "IK_QTask.h"
 
class IK_QJacobianSolver {
 public:
  IK_QJacobianSolver();
  ~IK_QJacobianSolver() {}
 
  // setup pole vector constraint
  void SetPoleVectorConstraint(
      IK_QSegment *tip, Vector3d &goal, Vector3d &polegoal, float poleangle, bool getangle);
  float GetPoleAngle()
  {
    return m_poleangle;
  }
 
  // call setup once before solving, if it fails don't solve
  bool Setup(IK_QSegment *root, std::list<IK_QTask *> &tasks);
 
  // returns true if converged, false if max number of iterations was used
  bool Solve(IK_QSegment *root,
             std::list<IK_QTask *> tasks,
             const double tolerance,
             const int max_iterations);
 
 private:
  void AddSegmentList(IK_QSegment *seg);
  bool UpdateAngles(double &norm);
  void ConstrainPoleVector(IK_QSegment *root, std::list<IK_QTask *> &tasks);
 
  double ComputeScale();
  void Scale(double scale, std::list<IK_QTask *> &tasks);
 
 private:
  IK_QJacobian m_jacobian;
  IK_QJacobian m_jacobian_sub;
 
  bool m_secondary_enabled;
 
  std::vector<IK_QSegment *> m_segments;
 
  Affine3d m_rootmatrix;
 
  bool m_poleconstraint;
  bool m_getpoleangle;
  Vector3d m_goal;
  Vector3d m_polegoal;
  float m_poleangle;
  IK_QSegment *m_poletip;
};