Add transition functions and mark them as deprecated

Author: rickertm

src/rl/mdl/Dynamic.cpp

@@ -32,10 +32,12 @@
 #include <rl/math/Spatial.h>
 #include <rl/math/Unit.h>
 
+#include "EulerCauchyIntegrator.h"
 #include "Exception.h"
 #include "Dynamic.h"
 #include "Prismatic.h"
 #include "Revolute.h"
+#include "RungeKuttaNystromIntegrator.h"
 #include "World.h"
 
 namespace rl
@@ -172,6 +174,13 @@ namespace rl
 			invMx = J * invM * J.transpose();
 		}
 
+		void
+		Dynamic::eulerCauchy(const ::rl::math::Real& dt)
+		{
+			EulerCauchyIntegrator integrator(this);
+			integrator.integrate(dt);
+		}
+		
 		void
 		Dynamic::forwardDynamics()
 		{
@@ -244,6 +253,13 @@ namespace rl
 			}
 		}
 
+		void
+		Dynamic::rungeKuttaNystrom(const ::rl::math::Real& dt)
+		{
+			RungeKuttaNystromIntegrator integrator(this);
+			integrator.integrate(dt);
+		}
+		
 		void
 		Dynamic::update()
 		{

src/rl/mdl/Dynamic.h

@@ -146,6 +146,8 @@ namespace rl
 			 */
 			void calculateOperationalMassMatrixInverse(const ::rl::math::Matrix& J, const ::rl::math::Matrix& invM, ::rl::math::Matrix& invMx) const;
 
+			RL_MDL_DEPRECATED void eulerCauchy(const ::rl::math::Real& dt);
+			
 			/**
 			 * Forward dynamics via articulated-body algorithm.
 			 *
@@ -226,6 +228,8 @@ namespace rl
 
 			void inverseForce();
 
+			RL_MDL_DEPRECATED void rungeKuttaNystrom(const ::rl::math::Real& dt);
+			
 			virtual void update();
 
 		protected:

src/rl/mdl/Kinematic.cpp

@@ -33,6 +33,7 @@
 #include <rl/math/Unit.h>
 
 #include "Exception.h"
+#include "JacobianInverseKinematics.h"
 #include "Kinematic.h"
 #include "Prismatic.h"
 #include "Revolute.h"
@@ -53,6 +54,17 @@ namespace rl
 		{
 		}
 
+		bool
+		Kinematic::calculateInversePosition(const ::rl::math::Transform& x, const ::std::size_t& leaf, const ::rl::math::Real& delta, const ::rl::math::Real& epsilon, const ::std::size_t& iterations)
+		{
+			JacobianInverseKinematics ik(this);
+			ik.setDelta(delta);
+			ik.setEpsilon(epsilon);
+			ik.setIterations(iterations);
+			ik.addGoal(x, leaf);
+			return ik.solve();
+		}
+		
 		void
 		Kinematic::calculateJacobian(const bool& inWorldFrame)
 		{

src/rl/mdl/Kinematic.h

@@ -44,6 +44,14 @@ namespace rl
 
 			virtual ~Kinematic();
 
+			RL_MDL_DEPRECATED bool calculateInversePosition(
+				const ::rl::math::Transform& x,
+				const ::std::size_t& leaf = 0,
+				const ::rl::math::Real& delta = ::std::numeric_limits<::rl::math::Real>::infinity(),
+				const ::rl::math::Real& epsilon = static_cast<::rl::math::Real>(1.0e-6),
+				const ::std::size_t& iterations = 10000
+			);
+			
 			/**
 			 * Calculate Jacobian matrix.
 			 *

src/rl/sg/Shape.cpp

@@ -38,6 +38,13 @@ namespace rl
 		{
 		}
 
+		Shape::Shape(::SoVRMLShape* shape, Body* body) :
+			Base(),
+			body(body),
+			name()
+		{
+		}
+		
 		Shape::~Shape()
 		{
 		}

src/rl/sg/Shape.h

@@ -28,6 +28,7 @@
 #define RL_SG_SHAPE_H
 
 #include <string>
+#include <Inventor/VRMLnodes/SoVRMLShape.h>
 #include <rl/math/Transform.h>
 
 #include "Base.h"
@@ -43,6 +44,8 @@ namespace rl
 		public:
 			Shape(Body* body);
 
+			RL_SG_DEPRECATED Shape(::SoVRMLShape* shape, Body* body);
+			
 			virtual ~Shape();
 
 			Body* getBody() const;