Public Types |
| enum | ConstIndex { HAVE_CONSTRAINT,
NO_CONSTRAINT
} |
| enum | ConstType {
HANDLE_CONSTRAINT,
DESIRE_CONSTRAINT,
COM_CONSTRAINT,
SCALAR_JOINT_LIMIT_CONSTRAINT,
IK_NUM_CONSTRAINT_TYPES
} |
| enum | Priority { HIGH_PRIORITY = 0,
HIGH_IF_POSSIBLE,
LOW_PRIORITY,
N_PRIORITY_TYPES
} |
Public Member Functions |
| int | AddConstraint (IKConstraint *_constraint) |
| IKHandle * | AddMarker (const std::string &label, const std::string &linkname, const std::string &charname, const fVec3 &rel_pos) |
| | Add new marker constraint.
|
| IKHandle * | AddMarker (const char *marker_name, Joint *parent_joint, const fVec3 &abs_pos=0.0) |
| int | ConstraintID (ConstType _type, const char *jname) |
| int | ConstraintID (int _index) |
| int | ConstraintIndex (ConstType _type, const char *jname) |
| int | ConstraintIndex (int _id) |
| int | DisableDesire (const char *jname) |
| | Disable desire constraint of the specific joint.
|
| int | EditMarker (IKHandle *marker, const char *body_name, Joint *parent_joint, const fVec3 &abs_pos=0.0) |
| int | EnableDesire (const char *jname) |
| | Enable desire constraint of the specific joint.
|
| IKConstraint * | FindConstraint (ConstType _type, const char *jname, const char *charname=0) |
| IKConstraint * | FindConstraint (int _id) |
| double | GetMaxConditionNumber () |
| | Get maximum condition number.
|
| | IK () |
| | Default constructor.
|
| int | LoadMarkerXML (const char *fname, const char *_charname) |
| | Load marker information from XML file.
|
| int | NumConstraints () |
| | Number of constraints.
|
| int | NumConstraints (ConstType t) |
| | Number of constraints with specific type.
|
| int | RemoveAllConstraints () |
| int | RemoveConstraint (int _id) |
| int | ResetAllConstraints () |
| | Reset all constraints.
|
| int | ResetConstraints (ConstType t) |
| | Reset the constraints with the specific type.
|
| int | SaveMarkers (const char *fname) |
| void | SetCharacterScale (double _scale, const char *charname=0) |
| | Set character scale parameter.
|
| void | SetConstraintScale (double _scale, const char *charname=0) |
| | Set constraint scale parameter.
|
| int | SetDesireGain (const char *jname, double _gain) |
| | Set gain of desire constraint of the specific joint.
|
| int | SetJointWeight (const char *jname, double _weight) |
| | Set joint weight, for single-DOF joints.
|
| int | SetJointWeight (const char *jname, const fVec &_weight) |
| | Set joint weight, for multiple-DOF joints.
|
| void | SetMaxConditionNumber (double cn) |
| | Set maximum condition number.
|
| double | Update (double timestep) |
| double | Update (double max_timestep, double min_timestep, double max_integ_error=DEFAULT_MAX_INTEG_ERROR) |
| | Perform inverse kinematics with adaptive time step.
|
| | ~IK () |
| | Destructor.
|
Protected Member Functions |
| IKHandle * | add_marker (const char *marker_name, Joint *parent_joint, const fVec3 &abs_pos) |
| IKHandle * | add_marker (TransformNode *tn) |
| int | assign_constraints (int _n) |
| int | calc_feedback () |
| int | calc_jacobian () |
| | compute the Jacobian matrix
|
| int | copy_jacobian () |
| int | edit_marker (IKHandle *marker, const char *body_name, Joint *parent_joint, const fVec3 &abs_pos) |
| int | init (SceneGraph *sg) |
| | Initialize the parameters.
|
| int | load_markers (SceneGraph *sg, Joint *rj) |
| int | load_markers (TransformNode *marker_top) |
| int | myinit (SceneGraph *sg) |
| int | save_marker (TransformNode *top_tnode, IKHandle *h) |
| void | set_character_scale (Joint *jnt, double _scale, const char *charname) |
| double | solve_ik () |
| | compute the joint velocity
|
Protected Attributes |
| IKConstraint ** | constraints |
| | list of current constraints
|
| fVec | fb [N_PRIORITY_TYPES] |
| | constraint error of each type
|
| fMat | J [N_PRIORITY_TYPES] |
| | Jacobian matrix of each type.
|
| fVec | joint_weights |
| | joint weights
|
| double | max_condnum |
| | maximum condition number
|
| int | n_all_const |
| int | n_assigned_constraints |
| int | n_const [N_PRIORITY_TYPES] |
| | number of constraints of each type
|
| int | n_constraints |
| | number of current constraints
|
| int | n_total_const |
| | number of total constraints used so far, including removed ones
|
| fVec | weight [N_PRIORITY_TYPES] |
| | weight of each type
|
Friends |
| class | IKConstraint |
| class | IKDesire |
| class | IKHandle |
Main class for inverse kinematic computation.
Definition at line 37 of file ik.h.
