132 lines
5.6 KiB
C++
132 lines
5.6 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 - 2023 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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#include "SGCore/SGJointKinematics.h"
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#include "SGCore/SGBasicHandModel.h"
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#include "SGCoreImpl/SGExportedFunctions.h"
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#include "SGInterop/SGIC_ESGFinger.h"
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#include "SGInterop/SGIC_FQuat.h"
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#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
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#include "SGInterop/SGIC_FVector.h"
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#include "SGInterop/SGIC_TArray_FQuat.h"
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#include "SGInterop/SGIC_TArray_FVector.h"
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#include "SGUtils/SGArrayUtils.h"
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bool FSGJointKinematics::ForwardKinematics(
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const FVector& StartPosition, const FQuat& StartRotation, const TArray<FVector>& JointLengths,
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const TArray<FVector>& JointAngles, TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
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{
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FSGIC_FVector StartPositionContainer{StartPosition};
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FSGIC_FQuat StartRotationContainer{StartRotation};
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FSGIC_TArray_FVector JointLengthsContainer{JointLengths};
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FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
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FSGIC_TArray_FVector OutNewPositionsContainer;
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FSGIC_TArray_FQuat OutNewRotationsContainer;
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const bool bResult =
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SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_StartPosition_StartRotation_JointLengths_JointAngles_OutNewPositions_OutNewRotations(
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&StartPositionContainer, &StartRotationContainer, &JointLengthsContainer, &JointAnglesContainer,
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&OutNewPositionsContainer, &OutNewRotationsContainer);
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OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
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OutNewRotations = MoveTemp(OutNewRotationsContainer.Array);
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return bResult;
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}
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bool FSGJointKinematics::ForwardKinematics(
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const FVector& StartPosition, const FRotator& StartRotation, const TArray<FVector>& JointLengths,
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const TArray<FVector>& JointAngles, TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations)
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{
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FSGIC_FVector StartPositionContainer{StartPosition};
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FSGIC_FQuat StartRotationContainer{StartRotation.Quaternion()};
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FSGIC_TArray_FVector JointLengthsContainer{JointLengths};
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FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
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FSGIC_TArray_FVector OutNewPositionsContainer;
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FSGIC_TArray_FQuat OutNewRotationsContainer;
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const bool bResult =
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SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_StartPosition_StartRotation_JointLengths_JointAngles_OutNewPositions_OutNewRotations(
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&StartPositionContainer, &StartRotationContainer, &JointLengthsContainer, &JointAnglesContainer,
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&OutNewPositionsContainer, &OutNewRotationsContainer);
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OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
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OutNewRotations = FSGArrayUtils::QuatsToRotators(OutNewRotationsContainer.Array);
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return bResult;
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}
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bool FSGJointKinematics::ForwardKinematics(
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const USGBasicHandModel* Profile, const ESGFinger Finger, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
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{
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FSGIC_FSGBasicHandModelImpl ProfileContainer{Profile->ToBasicHandModelImpl()};
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FSGIC_ESGFinger FingerContainer{Finger};
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FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
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FSGIC_TArray_FVector OutNewPositionsContainer;
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FSGIC_TArray_FQuat OutNewRotationsContainer;
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const bool bResult =
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SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_Profile_Finger_JointAngles_OutNewPositions_OutNewRotations(
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&ProfileContainer, &FingerContainer, &JointAnglesContainer,
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&OutNewPositionsContainer, &OutNewRotationsContainer);
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OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
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OutNewRotations = MoveTemp(OutNewRotationsContainer.Array);
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return bResult;
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}
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bool FSGJointKinematics::ForwardKinematics(
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const USGBasicHandModel* Profile, const ESGFinger Finger, const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations)
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{
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FSGIC_FSGBasicHandModelImpl ProfileContainer{Profile->ToBasicHandModelImpl()};
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FSGIC_ESGFinger FingerContainer{Finger};
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FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
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FSGIC_TArray_FVector OutNewPositionsContainer;
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FSGIC_TArray_FQuat OutNewRotationsContainer;
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const bool bResult =
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SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_Profile_Finger_JointAngles_OutNewPositions_OutNewRotations(
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&ProfileContainer, &FingerContainer, &JointAnglesContainer,
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&OutNewPositionsContainer, &OutNewRotationsContainer);
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OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
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OutNewRotations = FSGArrayUtils::QuatsToRotators(OutNewRotationsContainer.Array);
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return bResult;
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} |