Add Chromium-only Blender WebEngine parity work

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

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+// 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_SEGMENT_HPP
+#define KDL_SEGMENT_HPP
+
+#include "frames.hpp"
+#include "inertia.hpp"
+#include "joint.hpp"
+#include <vector>
+
+namespace KDL {
+
+    /**
+	  * \brief This class encapsulates a simple segment, that is a "rigid
+	  * body" (i.e., a frame and an inertia) with a joint and with
+	  * "handles", root and tip to connect to other segments.
+     *
+     * A simple segment is described by the following properties :
+     *      - Joint
+     *      - inertia: of the rigid body part of the Segment
+     *      - Offset from the end of the joint to the tip of the segment:
+     *        the joint is located at the root of the segment.
+     *
+     * @ingroup KinematicFamily
+     */
+    class Segment {
+        friend class Chain;
+    private:
+        Inertia M;
+        Joint joint;
+        Frame f_tip;
+
+    public:
+        /**
+         * Constructor of the segment
+         *
+         * @param joint joint of the segment, default:
+         * Joint(Joint::None)
+         * @param f_tip frame from the end of the joint to the tip of
+         * the segment, default: Frame::Identity()
+         * @param M rigid body inertia of the segment, default: Inertia::Zero()
+         */
+        Segment(const Joint& joint=Joint(), const Frame& f_tip=Frame::Identity(),const Inertia& M = Inertia::Zero());
+        Segment(const Segment& in);
+        Segment& operator=(const Segment& arg);
+
+        virtual ~Segment();
+
+        /**
+         * Request the pose of the segment, given the joint position q.
+         *
+         * @param q 1D position of the joint
+         *
+         * @return pose from the root to the tip of the segment
+         */
+        Frame pose(const double* q)const;
+        /**
+         * Request the 6D-velocity of the tip of the segment, given
+         * the joint position q and the joint velocity qdot.
+         *
+         * @param q ND position of the joint
+         * @param qdot ND velocity of the joint
+         *
+         * @return 6D-velocity of the tip of the segment, expressed
+         *in the base-frame of the segment(root) and with the tip of
+         *the segment as reference point.
+         */
+        Twist twist(const double* q,const double& qdot, int dof=0)const;
+
+        /**
+         * Request the 6D-velocity at a given point p, relative to base frame of the segment
+         * givven the joint velocity qdot.
+         *
+         * @param p reference point
+         * @param qdot ND velocity of the joint
+         *
+         * @return 6D-velocity at a given point p, expressed
+         * in the base-frame of the segment(root) 
+         */
+	    Twist twist(const Vector& p, const double& qdot, int dof=0)const;
+
+        /**
+         * Request the 6D-velocity at a given frame origin, relative to base frame of the segment
+         * assuming the frame rotation is the rotation of the joint.
+         *
+         * @param f joint pose frame + reference point
+         * @param qdot ND velocity of the joint
+         *
+         * @return 6D-velocity at frame reference point, expressed
+         * in the base-frame of the segment(root) 
+         */
+		Twist twist(const Frame& f, const double& qdot, int dof)const;
+
+        /**
+         * Request the joint of the segment
+         *
+         *
+         * @return const reference to the joint of the segment
+         */
+        const Joint& getJoint()const
+        {
+            return joint;
+        }
+        /**
+         * Request the inertia of the segment
+         *
+         *
+         * @return const reference to the inertia of the segment
+         */
+        const Inertia& getInertia()const
+        {
+            return M;
+        }
+
+        /**
+         * Request the pose from the joint end to the tip of the
+         *segment.
+         *
+         * @return const reference to the joint end - segment tip pose.
+         */
+        const Frame& getFrameToTip()const
+        {
+            return f_tip;
+        }
+
+    };
+}//end of namespace KDL
+
+#endif