71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
/**
|
|
* @file
|
|
*
|
|
* @author Mamadou Babaei <mamadou@senseglove.com>
|
|
*
|
|
* @section LICENSE
|
|
*
|
|
* (The MIT License)
|
|
*
|
|
* Copyright (c) 2020 - 2024 SenseGlove
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
* in the Software without restriction, including without limitation the rights
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
* SOFTWARE.
|
|
*
|
|
* @section DESCRIPTION
|
|
*
|
|
*
|
|
*/
|
|
|
|
|
|
#pragma once
|
|
|
|
#include "Containers/Array.h"
|
|
#include "Math/Quat.h"
|
|
#include "Math/Vector.h"
|
|
|
|
#include "SGTypes/SGCoreTypes.h"
|
|
|
|
class FSGBasicHandModelImpl;
|
|
|
|
namespace SGCore
|
|
{
|
|
namespace Kinematics
|
|
{
|
|
class JointKinematics;
|
|
}
|
|
}
|
|
|
|
class SENSEGLOVECOREIMPL_API FSGJointKinematicsImpl final
|
|
{
|
|
public:
|
|
typedef SGCore::Kinematics::JointKinematics FJointKinematicsType;
|
|
|
|
public:
|
|
static bool ForwardKinematics(const FVector& StartPosition, const FQuat& StartRotation,
|
|
const TArray<FVector>& JointLengths, const TArray<FVector>& JointAngles,
|
|
TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations);
|
|
|
|
static bool ForwardKinematics(
|
|
const FSGBasicHandModelImpl& Profile, ESGFinger Finger, const TArray<FVector>& JointAngles,
|
|
TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations);
|
|
|
|
public:
|
|
FSGJointKinematicsImpl() = delete;
|
|
virtual ~FSGJointKinematicsImpl() = delete;
|
|
}; |