robot/KinematicEvaluator

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: KinematicEvaluator 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_KINEMATICEVALUATOR_
#define _ROBOT_KINEMATICEVALUATOR_

#include <robot/robot>

#include <base/ReferencedObject>

#include <base/array>
#include <base/Vector>
#include <base/Matrix>


namespace robot {

class KinematicChain;  
  
  

/**
 * An abstract interface for forward and inverse kinematic expression evaluation.
 *  Typically, a single instance will be created per application, but the user is free
 *  to create multiple instances
 * Implementations may cache internal state to optimize evaluations.
 */
class KinematicEvaluator : public base::ReferencedObject
{
public:

  /// get the forward kinematics transform for the given chain, with joint parameter values q
  /**  
   *   @param  chain       a description of a chain of links 
   *   @param  q           array of Reals; q[0] is the value of the variable for the first dof
   *   @return             a 4x4 homogeneous transform matrix from the first link to the end-effector
   */
  virtual Matrix getForwardKinematics(const KinematicChain& chain, const Vector& q) const = 0;
  
  
  /// get the Jacobian matrix for the given chain, with joint parameter values q
  /**  
   *   @param  chain       a description of a chain of links 
   *   @param  q           array of Reals; q[0] is the value of the variable for the first dof
   *   @param  includeOrientation   include orientation components in the Jacobian if true
   *   @return             a [6|3] x N  Jacobian matrix, where N=chain.dof and the number of rows
   *                       will be 6 unless includeOrientation is false.
   */
  virtual Matrix getJacobian(const KinematicChain& chain, const Vector& q, bool includeOrientation = true) const = 0;
  
  

  /// computes the forward kinematics to return the joint origin locations
  /**  
   *   @param  chain       a description of a chain of links 
   *   @param  q           array of Reals; q[0] is the value of the variable for the first dof
   *   @return             array of [x,y,z] Vectors that give the location of each joint's origin ( size()==chain.dof() )
   */
  virtual array<base::Vector> getJointOrigins(const KinematicChain& chain, const base::Vector& q ) const = 0;
  
  
  /// computes the forward kinematics to return the link origin locations
  /**
   *   @param  chain       a description of a chain of links 
   *   @param  q           array of Reals; q[0] is the value of the variable for the first dof
   *   @return             array of [x,y,z] Vectors that give the location of each link's origin ( size()==chain.size() )
   */
  virtual array<base::Vector> getLinkOrigins(const KinematicChain& chain, const base::Vector& q ) const = 0;
};

} // namespace robot

#endif

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