98 lines
4.3 KiB
C++
98 lines
4.3 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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#include "SGCoreImpl/SGJointKinematicsImpl.h"
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#include "SGBuildHacks/SGInclude_Core_JointKinematics.h"
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#include "SGBuildHacks/SGInclude_Core_Quat.h"
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#include "SGBuildHacks/SGInclude_Core_Vect3D.h"
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#include "SGCoreImpl/SGBasicHandModelImpl.h"
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#include "SGCoreImpl/SGCoreEnumCast.h"
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#include "SGCoreImpl/SGQuatImpl.h"
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#include "SGCoreImpl/SGVect3DImpl.h"
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#include "SGUtils/SGArrayUtils.h"
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bool FSGJointKinematicsImpl::ForwardKinematics(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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{
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FSGVect3DImpl::FVect3DType StartPositionVect3D(
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FSGUnits::CentimetersToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(StartPosition));
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FSGQuatImpl::FQuatType StartRotationQuat(FSGQuatImpl(StartRotation).ToQuat());
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std::vector<FSGVect3DImpl::FVect3DType> JointLengthsVector{
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FSGArrayUtils::ToMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(JointLengths)
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};
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std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector{
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FSGArrayUtils::ToSenseGloveAngles<FSGVect3DImpl::FVect3DType>(JointAngles)
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};
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std::vector<FSGVect3DImpl::FVect3DType> NewPositions;
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std::vector<FSGQuatImpl::FQuatType> NewRotations;
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const bool bResults = FSGJointKinematicsImpl::FJointKinematicsType::ForwardKinematics(
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MoveTemp(StartPositionVect3D), MoveTemp(StartRotationQuat),
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MoveTemp(JointLengthsVector), MoveTemp(JointAnglesVector),
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NewPositions, NewRotations);
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OutNewPositions = FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPositions);;
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OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat,
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FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);;
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return bResults;
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}
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bool FSGJointKinematicsImpl::ForwardKinematics(const FSGBasicHandModelImpl& Profile, const ESGFinger Finger,
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const TArray<FVector>& JointAngles,
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TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
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{
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std::vector<FSGVect3DImpl::FVect3DType> JointAnglesVector{
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FSGArrayUtils::ToSenseGloveAngles<FSGVect3DImpl::FVect3DType>(JointAngles)
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};
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std::vector<FSGVect3DImpl::FVect3DType> NewPositions;
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std::vector<FSGQuatImpl::FQuatType> NewRotations;
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const bool bResults = FSGJointKinematicsImpl::FJointKinematicsType::ForwardKinematics(
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Profile.ToBasicHandModel(), FSGCoreEnumCast::ToEFinger(Finger), MoveTemp(JointAnglesVector),
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NewPositions, NewRotations);
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OutNewPositions = FSGArrayUtils::FromMillimeters<FSGVect3DImpl::FVect3DType, FSGVect3DImpl>(NewPositions);;
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OutNewRotations = FSGArrayUtils::FromStdVector<FSGQuatImpl::FQuatType, FQuat,
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FSGQuatImpl, &FSGQuatImpl::ToFQuat>(NewRotations);;
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return bResults;
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} |