00001 #ifndef bvgl_articulated_poly_h_ 00002 #define bvgl_articulated_poly_h_ 00003 //----------------------------------------------------------------------------- 00004 //: 00005 // \file 00006 // \brief A polyline with articulated joints 00007 // 00008 // \author 00009 // J.L. Mundy - January 13, 2007 00010 // 00011 //----------------------------------------------------------------------------- 00012 #include <vcl_vector.h> 00013 #include <vgl/algo/vgl_h_matrix_2d.h> 00014 #include <vsol/vsol_point_2d_sptr.h> 00015 #include <vsol/vsol_polyline_2d.h> 00016 #include "bvgl_articulated_poly_sptr.h" 00017 00018 //----------------------------------------------------------------------------- 00019 class bvgl_articulated_poly : public vsol_polyline_2d 00020 { 00021 public: 00022 bvgl_articulated_poly(const unsigned n_joints); 00023 bvgl_articulated_poly(const unsigned n_joints, vcl_vector<double> const& link_lengths); 00024 bvgl_articulated_poly(const bvgl_articulated_poly& poly); 00025 ~bvgl_articulated_poly() {} 00026 00027 vgl_h_matrix_2d<double> joint_transform(unsigned joint) const 00028 {return joint_transforms_[joint];} 00029 00030 //: angle between joint and joint+1 00031 double joint_angle(unsigned joint) const; 00032 00033 //: link from joint to joint+1 00034 double link_length(unsigned joint) const; 00035 00036 vsol_point_2d_sptr joint_position(const unsigned joint) const; 00037 00038 //:Transform the articulation 00039 void transform(vcl_vector<double > const& delta_joint_angle); 00040 00041 void sub_manifold_transform(const double t, 00042 vcl_vector<double > const& basis_angles); 00043 00044 00045 //:Compute the Lie distance between two articulations 00046 static double lie_distance(bvgl_articulated_poly const& ap1, 00047 bvgl_articulated_poly const& ap2) ; 00048 00049 //: Projection onto the sub manifold 00050 static bvgl_articulated_poly_sptr 00051 projection(bvgl_articulated_poly_sptr const& target, 00052 vcl_vector<double > const& manifold_basis); 00053 00054 //:debug support 00055 void print(); 00056 void print_xforms(); 00057 00058 private: 00059 //: called when the state of the polygon changes 00060 void update(); 00061 bvgl_articulated_poly() {} //not available 00062 //:the inverse joint transforms for the current state of the articulation 00063 vcl_vector<vgl_h_matrix_2d<double> > joint_transforms_; 00064 }; 00065 00066 #endif // bvgl_articulated_poly_h_
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