CoordTrans.h

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/*
* ==========================================================================
*               This file is part of the implementation of
*
*               <FrameFab: Robotic Fabrication of Frame Shapes>
*               Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
*               In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
----------------------------------------------------------------------------
*               class:  CoordTrans
*
*               Description:    Local -> global coordinate transformation module used in stiffness matrix
*                                               formulation process.
*
*               Version:  1.0
*               Created:  Mar/23/2016
*               Update :  Mar/25/2016
*
*               Author:  Xin Hu, Yijiang Huang, Guoxian Song
*               Company:  GCL@USTC
*               Citation:       This file is modified out of coordtrans.c from
*                       Title:                  Frame3dd source code
*                                                       Static and dynamic structural analysis of 2D and 3D frames and trusses with
*                                                       elastic and geometric stiffness.
*                       Author:                 Henri P. Gavin
*                       Code Version:   20140514+
*                       Availability:   http://frame3dd.sourceforge.net/
----------------------------------------------------------------------------
*               Copyright (C) 2016  Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
*               and Ligang Liu.
*
*               FrameFab is free software: you can redistribute it and/or modify
*               it under the terms of the GNU General Public License as published by
*               the Free Software Foundation, either version 3 of the License, or
*               (at your option) any later version.
*
*               FrameFab is distributed in the hope that it will be useful,
*               but WITHOUT ANY WARRANTY; without even the implied warranty of
*               MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*               GNU General Public License for more details.
*
*               You should have received a copy of the GNU General Public License
*               along with FrameFab.  If not, see <http://www.gnu.org/licenses/>.
* ==========================================================================
*/

#pragma once
#include <vector>
#include <Eigen/Dense>

#include "choreo_task_sequence_planner/utils/WireFrame.h"

class CoordTrans{
public:
        typedef         Eigen::MatrixXd MX;
        typedef         Eigen::Matrix3d M3;
        typedef         Eigen::VectorXd VX;
        typedef         Eigen::Vector3d V3;
        typedef         Eigen::VectorXi VXi;
        typedef         Eigen::MatrixXi MXi;
public:
        CoordTrans(){};
        ~CoordTrans(){};

        void CreateTransMatrix(
                std::vector<V3> xyz,
                double L,                       // length of the element(edge)
                int n1, int n2,         // index fo endpoint of the element
                double &t0, double &t1, double &t2, double &t3, double &t4, 
                double &t5, double &t6, double &t7, double &t8,
                float p);

        void CreateTransMatrix(
                point u, point v,
                double &t0, double &t1, double &t2, double &t3, double &t4,
                double &t5, double &t6, double &t7, double &t8,
                float p);

        void TransLocToGlob(
                double t0, double t1, double t2, double t3, double t4,
                double t5, double t6, double t7, double t8,
                MX         &m, float r1, float r2);
};