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make IK compile on Mac OSX

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This commit is contained in:
Erwin Coumans
2016-07-24 23:50:18 -07:00
parent 75e86051c2
commit 53fa57bdc4
9 changed files with 14 additions and 230 deletions
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4
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -136,6 +136,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0, "Inverse Kinematics"), ExampleEntry(0, "Inverse Kinematics"),
ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS), ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS), ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS), ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO), ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),

3
examples/InverseKinematics/InverseKinematicsExample.cpp
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@@ -113,6 +113,9 @@ void DoUpdateStep(double Tstep, Tree & treeY, Jacobian *jacob, int ikMethod) {
case IK_DLS: case IK_DLS:
jacob->CalcDeltaThetasDLS(); // Damped least squares method jacob->CalcDeltaThetasDLS(); // Damped least squares method
break; break;
case IK_DLS_SVD:
jacob->CalcDeltaThetasDLSwithSVD();
break;
case IK_PURE_PSEUDO: case IK_PURE_PSEUDO:
jacob->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method jacob->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method
break; break;

2
examples/InverseKinematics/InverseKinematicsExample.h
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@@ -1,7 +1,7 @@
#ifndef INVERSE_KINEMATICSEXAMPLE_H #ifndef INVERSE_KINEMATICSEXAMPLE_H
#define INVERSE_KINEMATICSEXAMPLE_H #define INVERSE_KINEMATICSEXAMPLE_H
enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS }; enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS , IK_DLS_SVD};
class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options); class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options);

31
examples/ThirdPartyLibs/BussIK/Jacobian.cpp
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@@ -8,7 +8,7 @@
* *
* *
* Author: Samuel R. Buss, sbuss@ucsd.edu. * Author: Samuel R. Buss, sbuss@ucsd.edu.
* Web page: http://math.ucsd.edu/~sbuss/MathCG * Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
* *
* *
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
@@ -30,7 +30,6 @@ subject to the following restrictions:
#include <iostream> #include <iostream>
using namespace std; using namespace std;
#include "../OpenGLWindow/OpenGLInclude.h"
#include "Jacobian.h" #include "Jacobian.h"
@@ -468,35 +467,7 @@ void Jacobian::UpdatedSClampValue()
} }
} }
void Jacobian::DrawEigenVectors() const
{
int i, j;
VectorR3 tail;
VectorR3 head;
Node *node;
for (i=0; i<w.GetLength(); i++) {
if ( NearZero( w[i], 1.0e-10 ) ) {
continue;
}
for (j=0; j<nEffector; j++) {
node = tree->GetEffector(j);
tail = node->GetS();
U.GetTriple( j, i, &head );
head += tail;
glDisable(GL_LIGHTING);
glColor3f(1.0f, 0.2f, 0.0f);
glLineWidth(2.0);
glBegin(GL_LINES);
glVertex3f(tail.x, tail.y, tail.z);
glVertex3f(head.x, head.y, tail.z);
glEnd();
Arrow(tail, head);
glLineWidth(1.0);
glEnable(GL_LIGHTING);
}
}
}
void Jacobian::CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 ) void Jacobian::CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 )
{ {

3
examples/ThirdPartyLibs/BussIK/Jacobian.h
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@@ -9,7 +9,7 @@
* *
* *
* Author: Samuel R. Buss, sbuss@ucsd.edu. * Author: Samuel R. Buss, sbuss@ucsd.edu.
* Web page: http://math.ucsd.edu/~sbuss/MathCG * Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
* *
* *
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
@@ -72,7 +72,6 @@ public:
double UpdateErrorArray(); // Returns sum of errors double UpdateErrorArray(); // Returns sum of errors
const VectorRn& GetErrorArray() const { return errorArray; } const VectorRn& GetErrorArray() const { return errorArray; }
void UpdatedSClampValue(); void UpdatedSClampValue();
void DrawEigenVectors() const;
void SetCurrentMode( UpdateMode mode ) { CurrentUpdateMode = mode; } void SetCurrentMode( UpdateMode mode ) { CurrentUpdateMode = mode; }
UpdateMode GetCurrentMode() const { return CurrentUpdateMode; } UpdateMode GetCurrentMode() const { return CurrentUpdateMode; }

2
examples/ThirdPartyLibs/BussIK/LinearR4.h
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@@ -195,7 +195,7 @@ public:
inline double Diagonal( int ); inline double Diagonal( int );
inline void MakeTranspose(); // Transposes it. inline void MakeTranspose(); // Transposes it.
void Matrix4x4::operator*= (const Matrix4x4& B); // Matrix product void operator*= (const Matrix4x4& B); // Matrix product
Matrix4x4& ReNormalize(); Matrix4x4& ReNormalize();
}; };

195
examples/ThirdPartyLibs/BussIK/Misc.cpp
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@@ -69,75 +69,6 @@ static int zorder[] = {
#define LENFRAC 0.10 #define LENFRAC 0.10
#define BASEFRAC 1.10 #define BASEFRAC 1.10
void Axes( float length )
{
int i, j; /* counters */
float fact; /* character scale factor */
float base; /* character start location */
glBegin( GL_LINE_STRIP );
glVertex3f( length, 0., 0. );
glVertex3f( 0., 0., 0. );
glVertex3f( 0., length, 0. );
glEnd();
glBegin( GL_LINE_STRIP );
glVertex3f( 0., 0., 0. );
glVertex3f( 0., 0., length );
glEnd();
fact = LENFRAC * length;
base = BASEFRAC * length;
glBegin( GL_LINE_STRIP );
for( i = 0; i < 4; i++ )
{
j = xorder[i];
if( j < 0 )
{
glEnd();
glBegin( GL_LINE_STRIP );
j = -j;
}
j--;
glVertex3f( base + fact*xx[j], fact*xy[j], 0.0 );
}
glEnd();
glBegin( GL_LINE_STRIP );
for( i = 0; i < 5; i++ )
{
j = yorder[i];
if( j < 0 )
{
glEnd();
glBegin( GL_LINE_STRIP );
j = -j;
}
j--;
glVertex3f( fact*yx[j], base + fact*yy[j], 0.0 );
}
glEnd();
glBegin( GL_LINE_STRIP );
for( i = 0; i < 6; i++ )
{
j = zorder[i];
if( j < 0 )
{
glEnd();
glBegin( GL_LINE_STRIP );
j = -j;
}
j--;
glVertex3f( 0.0, fact*zy[j], base + fact*zx[j] );
}
glEnd();
}
/**************************************************************** /****************************************************************
Arrow Arrow
@@ -164,138 +95,14 @@ static float azz[3] = { 0., 0., 1. };
/* function declarations: */ /* function declarations: */
void Arrow( float tail[3], float head[3] );
void Arrow( const VectorR3& tail, const VectorR3& head );
void cross( float [3], float [3], float [3] ); void cross( float [3], float [3], float [3] );
float dot( float [3], float [3] ); float dot( float [3], float [3] );
float unit( float [3], float [3] ); float unit( float [3], float [3] );
void Arrow( const VectorR3& tail, const VectorR3& head )
{
float t[3];
float h[3];
tail.Dump( t );
head.Dump( h );
Arrow( t, h );
}
void Arrow( float tail[3], float head[3] )
{
float u[3], v[3], w[3]; /* arrow coordinate system */
float d; /* wing distance */
float x, y, z; /* point to plot */
float mag; /* magnitude of major direction */
float f; /* fabs of magnitude */
int axis; /* which axis is the major */
/* set w direction in u-v-w coordinate system: */
w[0] = head[0] - tail[0];
w[1] = head[1] - tail[1];
w[2] = head[2] - tail[2];
/* determine major direction: */
axis = X;
mag = fabs( w[0] );
if( (f=fabs(w[1])) > mag )
{
axis = Y;
mag = f;
}
if( (f=fabs(w[2])) > mag )
{
axis = Z;
mag = f;
}
/* set size of wings and turn w into a unit vector: */
d = WINGS * unit( w, w );
/* draw the shaft of the arrow: */
glBegin( GL_LINE_STRIP );
glVertex3fv( tail );
glVertex3fv( head );
glEnd();
/* draw two sets of wings in the non-major directions: */
if( axis != X )
{
cross( w, axx, v );
(void) unit( v, v );
cross( v, w, u );
x = head[0] + d * ( u[0] - w[0] );
y = head[1] + d * ( u[1] - w[1] );
z = head[2] + d * ( u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
x = head[0] + d * ( -u[0] - w[0] );
y = head[1] + d * ( -u[1] - w[1] );
z = head[2] + d * ( -u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
}
if( axis != Y )
{
cross( w, ayy, v );
(void) unit( v, v );
cross( v, w, u );
x = head[0] + d * ( u[0] - w[0] );
y = head[1] + d * ( u[1] - w[1] );
z = head[2] + d * ( u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
x = head[0] + d * ( -u[0] - w[0] );
y = head[1] + d * ( -u[1] - w[1] );
z = head[2] + d * ( -u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
}
if( axis != Z )
{
cross( w, azz, v );
(void) unit( v, v );
cross( v, w, u );
x = head[0] + d * ( u[0] - w[0] );
y = head[1] + d * ( u[1] - w[1] );
z = head[2] + d * ( u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
x = head[0] + d * ( -u[0] - w[0] );
y = head[1] + d * ( -u[1] - w[1] );
z = head[2] + d * ( -u[2] - w[2] );
glBegin( GL_LINE_STRIP );
glVertex3fv( head );
glVertex3f( x, y, z );
glEnd();
}
/* done: */
}
float dot( float v1[3], float v2[3] ) float dot( float v1[3], float v2[3] )
{ {

2
examples/ThirdPartyLibs/BussIK/Tree.cpp
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@@ -8,7 +8,7 @@
* *
* *
* Author: Samuel R. Buss, sbuss@ucsd.edu. * Author: Samuel R. Buss, sbuss@ucsd.edu.
* Web page: http://math.ucsd.edu/~sbuss/MathCG * Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
* *
* *
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.

2
examples/ThirdPartyLibs/BussIK/Tree.h
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@@ -8,7 +8,7 @@
* *
* *
* Author: Samuel R. Buss, sbuss@ucsd.edu. * Author: Samuel R. Buss, sbuss@ucsd.edu.
* Web page: http://math.ucsd.edu/~sbuss/MathCG * Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
* *
* *
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.