Center of mass position. More...
#include <ik.h>
Public Member Functions | |
IK::ConstType | GetType () |
Returns the constraint type. | |
IKCom (IK *_ik, const char *_charname, IK::ConstIndex cindex[3], IK::Priority _pri, double _gain) | |
int | Reset () |
void | SetPos (const fVec3 &p) |
~IKCom () | |
Protected Member Functions | |
int | calc_feedback () |
compute the feedback velocity | |
int | calc_jacobian () |
Computes the constraint Jacobian. | |
Protected Attributes | |
char * | charname |
target character name | |
IK::ConstIndex | const_index [3] |
which of three directions (x, y, z) are constrained | |
fVec3 | cur_com |
current COM position | |
fVec3 | des_com |
desired COM position |
IKCom::IKCom | ( | IK * | _ik, |
const char * | _charname, | ||
IK::ConstIndex | cindex[3], | ||
IK::Priority | _pri, | ||
double | _gain | ||
) | [inline] |
IKCom::~IKCom | ( | ) | [inline] |
int IKCom::calc_feedback | ( | ) | [protected, virtual] |
int IKCom::calc_jacobian | ( | ) | [protected, virtual] |
Computes the constraint Jacobian.
Computes the constraint Jacobian. implementing the function:
calc_jacobian_slide()
- calc_jacobian_free()
calc_jacobian()
calls each function depending on the joint typecalc_jacobian()
Reimplemented from IKConstraint.
IK::ConstType IKCom::GetType | ( | ) | [inline, virtual] |
int IKCom::Reset | ( | ) | [inline, virtual] |
Reimplemented from IKConstraint.
char* IKCom::charname [protected] |
IK::ConstIndex IKCom::const_index[3] [protected] |
fVec3 IKCom::cur_com [protected] |
fVec3 IKCom::des_com [protected] |