80 lines
3.3 KiB
C++
80 lines
3.3 KiB
C++
/**
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* @file
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*
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* @author Mamadou Babaei <mamadou@senseglove.com>
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*
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* @section LICENSE
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*
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* (The MIT License)
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*
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* Copyright (c) 2020 - 2022 SenseGlove
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @section DESCRIPTION
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*
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*
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*/
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#pragma once
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#include "Containers/Array.h"
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#include "Math/Quat.h"
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#include "Math/Vector.h"
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#include "SGCore/SGBasicHandModel.h"
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#include "SGKismet/SGBlueprintFunctionLibrary.h"
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#include "SGTypes/SGCoreTypes.h"
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#include "SGJointKinematicsKismetLibrary.generated.h"
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UCLASS(meta=(ScriptName = "SesneGloveJointKinematicsKismetLibrary"))
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class SENSEGLOVECOREKISMET_API USGJointKinematicsKismetLibrary final : public USGBlueprintFunctionLibrary
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{
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GENERATED_BODY()
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public:
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UFUNCTION(BlueprintCallable, DisplayName="Forward Kinematics",
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Category="SenseGlove | Core | Kinematics | Joint Kinematics")
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static bool ForwardKinematics_SP_FQuat_SR_JL_JA_OutNP_TArrayFQuat_OutNR(
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const FVector& StartPosition, const FQuat& StartRotation,
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const TArray<FVector>& JointLengths, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations);
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UFUNCTION(BlueprintCallable, DisplayName="Forward Kinematics",
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Category="SenseGlove | Core | Kinematics | Joint Kinematics")
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static bool
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ForwardKinematics_SP_FRotator_SR_JL_JA_OutNP_TArrayFRotator_OutNR(
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const FVector& StartPosition, const FRotator& StartRotation,
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const TArray<FVector>& JointLengths, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations);
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UFUNCTION(BlueprintCallable, DisplayName="Forward Kinematics",
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Category="SenseGlove | Core | Kinematics | Joint Kinematics")
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static bool ForwardKinematics_P_F_JA_OutNP_TArrayFQuat_OutNR(
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const USGBasicHandModel* Profile, ESGFinger Finger, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations);
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UFUNCTION(BlueprintCallable, DisplayName="Forward Kinematics",
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Category="SenseGlove | Core | Kinematics | Joint Kinematics")
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static bool ForwardKinematics_P_F_JA_OutNP_TArrayFRotator_OutNR(
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const USGBasicHandModel* Profile, ESGFinger Finger, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations);
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}; |