/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/kinematics/inverse/inverse_make_solver.h

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#ifndef OPENTISSUE_KINEMATICS_INVERSE_INVERSE_MAKE_SOLVER_H
#define OPENTISSUE_KINEMATICS_INVERSE_INVERSE_MAKE_SOLVER_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

#include <OpenTissue/kinematics/inverse/inverse_nonlinear_solver.h>

namespace OpenTissue
{
  namespace kinematics
  {
    namespace inverse
    {

      template<typename skeleton_type>
      inline NonlinearSolver<skeleton_type>  make_solver( skeleton_type const & skeleton )
      {
        typedef NonlinearSolver<skeleton_type>                solver_type;
        typedef typename solver_type::chain_type              chain_type;
        typedef typename skeleton_type::const_bone_iterator   const_bone_iterator;
        typedef typename skeleton_type::bone_type             bone_type;

        solver_type solver;

        solver.init( skeleton );
        const_bone_iterator    bone = skeleton.begin();  
        const_bone_iterator    end  = skeleton.end();
        for( ; bone!=end; ++bone)
        {
          if(!bone->is_leaf())
            continue;

          chain_type chain;
          chain.init( skeleton.root(), &(*bone) );

          solver.add_chain( chain );
        }
        return solver;
      }

    } // namespace inverse
  } // namespace kinematics
} // namespace OpenTissue

//OPENTISSUE_KINEMATICS_INVERSE_INVERSE_MAKE_SOLVER_H
#endif