57 lines
1.6 KiBLFS
C++
57 lines
1.6 KiBLFS
C++
/**
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* @file
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*
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* @author Max Lammers <max@senseglove.com>
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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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* Copyright (c) 2020 - 2025 SenseGlove
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*
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* @section DESCRIPTION
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*
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* Contains kinematic formulae and wrappers for Sense Glove mathematics.
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*/
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#pragma once
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#include <vector>
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#include "Fingers.hpp"
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#include "Platform.hpp"
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namespace SGCore
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{
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namespace Kinematics
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{
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class BasicHandModel;
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class SGCORE_API JointKinematics;
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class Quat;
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class Vect3D;
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}// namespace Kinematics
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}// namespace SGCore
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class SGCORE_API SGCore::Kinematics::JointKinematics
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{
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public:
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/// <summary>
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/// Perform forward Kinematics on a set of joints, defined by a start position- and rotation,
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/// joint angles and the lengths in between. Outputs the calculated positions and rotations.
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/// </summary>
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static bool ForwardKinematics(const Vect3D& startPosition, const Quat& startRotation,
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const std::vector<Vect3D>& jointLengths, const std::vector<Vect3D>& jointAngles,
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std::vector<Vect3D>& out_newPositions, std::vector<Quat>& out_newRotations);
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/// <summary> Calculate positions and rotations of a finger based on input angles and profile. </summary>
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static bool ForwardKinematics(
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const BasicHandModel& profile, EFinger finger, const std::vector<Vect3D>& jointAngles,
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std::vector<Vect3D>& out_newPositions, std::vector<Quat>& out_newRotations);
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public:
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JointKinematics() = delete;
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virtual ~JointKinematics() = delete;
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}; |