Solving Inverse-Kinematic Problem for PUMA via Position Based Dynamics
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// Fill out your copyright notice in the Description page of Project Settings.
#pragma once
#include "Eigen/Dense"
#include "CoreMinimal.h"
#include "Joint.generated.h"
using namespace Eigen;
class ULink;
/**
*
*/
UCLASS(BlueprintType, ClassGroup=(Custom))
class PBDROBOTICS_API UJoint : public UObject
{
GENERATED_BODY()
public:
UPROPERTY(BlueprintReadWrite)
ULink* FirstLink;
UPROPERTY(BlueprintReadWrite)
ULink* SecondLink;
// First Connection point in local space
Vector3d FirstLocalPosition;
// Second Connection point in local space
Vector3d SecondLocalPosition;
// Direction from CenterOfMass to First Connection point
Vector3d GetFirstWorldDirection() const;
// Direction from CenterOfMass to Second Connection point
Vector3d GetSecondWorldDirection() const;
// First - Second in World-Space
Vector3d GetConnection() const;
Vector3d FirstRotateAxis;
Vector3d SecondRotateAxis;
// World Axis, around which the First Link wants to rotate
Vector3d GetFirstWorldAxis() const;
// World Axis, around which the Second Link wants to rotate
Vector3d GetSecondWorldAxis() const;
void SolvePosition(const double H) const;
void SolveVelocity(const double H) const;
UJoint();
};