75 lines
2.5 KiB
C
75 lines
2.5 KiB
C
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef IGL_FORWARD_KINEMATICS_H
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#define IGL_FORWARD_KINEMATICS_H
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#include "igl_inline.h"
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <Eigen/StdVector>
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#include <vector>
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namespace igl
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{
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// Given a skeleton and a set of relative bone rotations compute absolute
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// rigid transformations for each bone.
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//
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// Inputs:
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// C #C by dim list of joint positions
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// BE #BE by 2 list of bone edge indices
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// P #BE list of parent indices into BE
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// dQ #BE list of relative rotations
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// dT #BE list of relative translations
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// Outputs:
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// vQ #BE list of absolute rotations
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// vT #BE list of absolute translations
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IGL_INLINE void forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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const std::vector<Eigen::Vector3d> & dT,
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std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
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std::vector<Eigen::Vector3d> & vT);
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// Wrapper assuming each dT[i] == {0,0,0}
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IGL_INLINE void forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
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std::vector<Eigen::Vector3d> & vT);
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// Outputs:
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// T #BE*(dim+1) by dim stack of transposed transformation matrices
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IGL_INLINE void forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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const std::vector<Eigen::Vector3d> & dT,
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Eigen::MatrixXd & T);
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IGL_INLINE void forward_kinematics(
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const Eigen::MatrixXd & C,
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const Eigen::MatrixXi & BE,
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const Eigen::VectorXi & P,
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const std::vector<
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Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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Eigen::MatrixXd & T);
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};
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#ifndef IGL_STATIC_LIBRARY
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# include "forward_kinematics.cpp"
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#endif
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#endif
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