iKinHlp.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms
 * of the BSD-3-Clause license. See the accompanying LICENSE file for
 * details.
*/
 
#ifndef __IKINHLP_H__
#define __IKINHLP_H__
 
#define IKIN_ALMOST_ZERO    1e-6
 
#include <yarp/os/Bottle.h>
#include <yarp/sig/all.h>
 
#include <iCub/iKin/iKinFwd.h>
 
 
namespace iCub
{
 
namespace iKin
{
 
class CartesianHelper
{
protected:
    static void addVectorOption(yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v);
    static bool getDesiredOption(const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat,
                                 yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat);
 
public:
    static void addTargetOption(yarp::os::Bottle &b, const yarp::sig::Vector &xd);
 
    static void addDOFOption(yarp::os::Bottle &b, const yarp::sig::Vector &dof);
 
    static void addJointsResPosOption(yarp::os::Bottle &b, const yarp::sig::Vector &restPos);
 
    static void addJointsRestWeightsOption(yarp::os::Bottle &b, const yarp::sig::Vector &restWeights);
 
    static void addPoseOption(yarp::os::Bottle &b, const unsigned int pose);
 
    static void addModeOption(yarp::os::Bottle &b, const bool tracking);
 
    static void addTokenOption(yarp::os::Bottle &b, const double token);    
 
    static yarp::os::Bottle *getTargetOption(const yarp::os::Bottle &b);
 
    static yarp::os::Bottle *getEndEffectorPoseOption(const yarp::os::Bottle &b);
 
    static yarp::os::Bottle *getJointsOption(const yarp::os::Bottle &b);
 
    static bool getTokenOption(const yarp::os::Bottle &b, double *token);
 
    static bool computeFixationPointData(iKinChain &eyeL, iKinChain &eyeR,
                                         yarp::sig::Vector &fp);
 
    static bool computeFixationPointData(iKinChain &eyeL, iKinChain &eyeR,
                                         yarp::sig::Vector &fp, yarp::sig::Matrix &J);
};
 
}
 
}
 
#endif