IKDesire Class Reference

Desired joint values. More...

#include <ik.h>

Inheritance diagram for IKDesire:

List of all members.

Public Member Functions
IK::ConstType	GetType ()
	Returns the constraint type.
	IKDesire (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain)
int	Reset ()
void	SetCharacterScale (double _scale, const char *charname=0)
void	SetDesire (double _q)
void	SetDesire (const fMat33 &_att)
void	SetDesire (const fVec3 &_pos, const fMat33 &_att)
void	SetDesire (const fVec3 &_pos)
	~IKDesire ()
Protected Member Functions
int	calc_feedback ()
	compute the feedback velocity
int	calc_jacobian_free (Joint *cur)
int	calc_jacobian_rotate (Joint *cur)
int	calc_jacobian_slide (Joint *cur)
int	calc_jacobian_sphere (Joint *cur)
Protected Attributes
fMat33	att_des
	desired joint orientation for 3/6 DOF joints
fVec3	pos_des
	desired joint position for 6DOF joints
double	q_des
	desired joint value for 1DOF joints
Friends
class	IK

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Detailed Description

Desired joint values.

Definition at line 555 of file ik.h.

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Constructor & Destructor Documentation

IKDesire::IKDesire	(	IK *	_ik,
		const char *	_jname,
		Joint *	_jnt,
		IK::Priority	_pri,
		double	_gain
	)		[inline]

Definition at line 560 of file ik.h.

IKDesire::~IKDesire

(

)

[inline]

Definition at line 593 of file ik.h.

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Member Function Documentation

int IKDesire::calc_feedback

(

)

[protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 65 of file desire.cpp.

int IKDesire::calc_jacobian_free

(

Joint *

cur

)

[protected, virtual]

Reimplemented from IKConstraint.

Definition at line 48 of file desire.cpp.

int IKDesire::calc_jacobian_rotate

(

Joint *

cur

)

[protected, virtual]

Reimplemented from IKConstraint.

Definition at line 16 of file desire.cpp.

int IKDesire::calc_jacobian_slide

(

Joint *

cur

)

[protected, virtual]

Reimplemented from IKConstraint.

Definition at line 25 of file desire.cpp.

int IKDesire::calc_jacobian_sphere

(

Joint *

cur

)

[protected, virtual]

Reimplemented from IKConstraint.

Definition at line 34 of file desire.cpp.

IK::ConstType IKDesire::GetType

(

)

[inline, virtual]

Returns the constraint type.

Implements IKConstraint.

Definition at line 618 of file ik.h.

int IKDesire::Reset

(

)

[inline, virtual]

Reimplemented from IKConstraint.

Definition at line 596 of file ik.h.

void IKDesire::SetCharacterScale	(	double	_scale,
		const char *	charname = 0
	)		[virtual]

Reimplemented from IKConstraint.

Definition at line 674 of file ik.cpp.

void IKDesire::SetDesire

(

double

_q

)

[inline]

Definition at line 622 of file ik.h.

void IKDesire::SetDesire

(

const fMat33 &

_att

)

[inline]

Definition at line 625 of file ik.h.

void IKDesire::SetDesire	(	const fVec3 &	_pos,
		const fMat33 &	_att
	)		[inline]

Definition at line 628 of file ik.h.

void IKDesire::SetDesire

(

const fVec3 &

_pos

)

[inline]

Definition at line 632 of file ik.h.

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Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 558 of file ik.h.

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Member Data Documentation

fMat33 IKDesire::att_des [protected]

desired joint orientation for 3/6 DOF joints

Definition at line 646 of file ik.h.

fVec3 IKDesire::pos_des [protected]

desired joint position for 6DOF joints

Definition at line 647 of file ik.h.

double IKDesire::q_des [protected]

desired joint value for 1DOF joints

Definition at line 645 of file ik.h.

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The documentation for this class was generated from the following files:

• ik.h
• desire.cpp
• ik.cpp