Add Chromium-only Blender WebEngine parity work

blender-5.2.0/intern/itasc/kdl/joint.hpp

@@ -0,0 +1,138 @@
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library 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
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_JOINT_HPP
+#define KDL_JOINT_HPP
+
+#include "frames.hpp"
+#include <string>
+
+namespace KDL {
+
+    /**
+	  * \brief This class encapsulates a simple joint, that is with one
+	  * parameterized degree of freedom and with scalar dynamic properties.
+     *
+     * A simple joint is described by the following properties :
+     *      - scale: ratio between motion input and motion output
+     *      - offset: between the "physical" and the "logical" zero position.
+     *      - type: revolute or translational, along one of the basic frame axes
+	  *      - inertia, stiffness and damping: scalars representing the physical
+	  *      effects along/about the joint axis only.
+     *
+     * @ingroup KinematicFamily
+     */
+    class Joint {
+    public:
+        typedef enum { RotX,RotY,RotZ,TransX,TransY,TransZ,Sphere,Swing,None} JointType;
+        /**
+         * Constructor of a joint.
+         *
+         * @param type type of the joint, default: Joint::None
+         * @param scale scale between joint input and actual geometric
+         * movement, default: 1
+         * @param offset offset between joint input and actual
+         * geometric input, default: 0
+         * @param inertia 1D inertia along the joint axis, default: 0
+         * @param damping 1D damping along the joint axis, default: 0
+         * @param stiffness 1D stiffness along the joint axis,
+         * default: 0
+         */
+        Joint(const JointType& type=None,const double& scale=1,const double& offset=0,
+              const double& inertia=0,const double& damping=0,const double& stiffness=0);
+        Joint(const Joint& in);
+
+        Joint& operator=(const Joint& arg);
+
+        /**
+         * Request the 6D-pose between the beginning and the end of
+         * the joint at joint position q
+         *
+         * @param q the 1D joint position
+         *
+         * @return the resulting 6D-pose
+         */
+        Frame pose(const double* q)const;
+        /**
+         * Request the resulting 6D-velocity with a joint velocity qdot
+         *
+         * @param qdot the 1D joint velocity
+         *
+         * @return the resulting 6D-velocity
+         */
+        Twist twist(const double& qdot, int dof=0)const;
+
+        /**
+         * Request the type of the joint.
+         *
+         * @return const reference to the type
+         */
+        const JointType& getType() const
+        {
+            return type;
+        };
+
+        /**
+         * Request the stringified type of the joint.
+         *
+         * @return const string
+         */
+        const std::string getTypeName() const
+        {
+            switch (type) {
+            case RotX:
+                return "RotX";
+            case RotY:
+                return "RotY";
+            case RotZ:
+                return "RotZ";
+            case TransX:
+                return "TransX";
+            case TransY:
+                return "TransY";
+            case TransZ:
+                return "TransZ";
+			case Sphere:
+				return "Sphere";
+			case Swing:
+				return "Swing";
+            case None:
+                return "None";
+            default:
+                return "None";
+            }
+        };
+		unsigned int getNDof() const;
+
+        virtual ~Joint();
+
+    private:
+        Joint::JointType type;
+        double scale;
+        double offset;
+        double inertia;
+        double damping;
+        double stiffness;
+    };
+
+} // end of namespace KDL
+
+#endif