manipulation_transforms.h

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#ifndef MANIPULATION_TRANSFORMS_H_
#define MANIPULATION_TRANSFORMS_H_

#include <LinearMath/btTransform.h>
#include "kdl/frames.hpp"
#include <vector>

class ManipulationTransforms {
public:

        ManipulationTransforms();

        ManipulationTransforms(const btTransform &obj_initial_pose, const std::vector<btTransform> &effector_initial_poses);
        ManipulationTransforms(const btTransform &obj_initial_pose, const btTransform &effector_initial_pose); 
        ManipulationTransforms(const btTransform &obj_initial_pose, const btTransform &effector1_initial_pose, const btTransform &effector2_initial_pose);  
        virtual ~ManipulationTransforms();

        void setInitialTransforms(const btTransform &obj_initial_pose, const std::vector<btTransform> &effector_initial_poses);
        void setInitialTransforms(const btTransform &obj_initial_pose, const btTransform &effector_initial_pose); 
        void setInitialTransforms(const btTransform &obj_initial_pose, const btTransform &effector1_initial_pose, const btTransform &effector2_initial_pose); 

        double mapEffectorPosesToObject(const std::vector<btTransform> &effector_query_poses, btTransform &obj_pose);
        double mapEffectorPosesToObject(const btTransform &effector_query_pose, btTransform &obj_pose); 
        double mapEffectorPosesToObject(const btTransform &effector1_query_pose, const btTransform &effector2_query_pose, btTransform &obj_pose); 

        double mapObjectPoseToEffectors(const btTransform &obj_query_pose, std::vector<btTransform> &effector_poses);
        double mapObjectPoseToEffectors(const btTransform &obj_query_pose, btTransform &effector_pose); 
        double mapObjectPoseToEffectors(const btTransform &obj_query_pose, btTransform &effector1_pose, btTransform &effector2_pose); 

        double mapEffectorTwistsToObject(const std::vector<KDL::Twist> &effector_query_twists, KDL::Twist &obj_twist, bool from_ref = true);
        double mapEffectorTwistsToObject(const KDL::Twist &effector_query_twist, KDL::Twist &obj_twist, bool from_ref = true); 
        double mapEffectorTwistsToObject(const KDL::Twist &effector1_query_twist, const KDL::Twist &effector2_query_twist, KDL::Twist &obj_twist, bool from_ref = true); 

        double mapObjectTwistToEffectors(const KDL::Twist &obj_query_twist, std::vector<KDL::Twist> &effector_twists, bool to_ref = true);
        double mapObjectTwistToEffectors(const KDL::Twist &obj_query_twist, KDL::Twist &effector_twist, bool to_ref = true);
        double mapObjectTwistToEffectors(const KDL::Twist &obj_query_twist, KDL::Twist &effector1_twist, KDL::Twist &effector2_twist, bool to_ref = true);

        double mapEffectorWrenchesToObject(const std::vector<KDL::Wrench> &effector_query_wrenches, KDL::Wrench &obj_wrench);

        double mapObjectWrenchToEffectors(const KDL::Wrench &obj_query_wrench, std::vector<KDL::Wrench> &effector_wrenches);

private:
        unsigned int n_effectors_; 
        std::vector<btTransform> obj_T_effectors_; 
        std::vector<btTransform> effector_T_obj_; 
        std::vector<btTransform> effector_T_ref_; 
        btTransform obj_T_ref_; 
};

#endif /* MANIPULATION_TRANSFORMS_H_ */