Base class for constraints. More...

#include <ik.h>

Inheritance diagram for IKConstraint:

Public Member Functions
void	Activate ()
	activate the constraint
int	Active ()
	whether the constraint is activate
void	Diactivate ()
	diactivate the constraint
void	Disable ()
	disable the constraint
int	Dropped ()
void	Enable ()
	enable the constraint
double	GetGain ()
	get the gain
Joint *	GetJoint ()
IK::Priority	GetPriority ()
	get the priproty
virtual IK::ConstType	GetType ()=0
	Returns the constraint type.
int	iConst ()
int	ID ()
	IKConstraint (IK _ik, const char _jname, Joint *_jnt, IK::Priority _pri, double _gain)
	Default constructor.
int	nConst ()
virtual int	Reset ()
virtual void	SetCharacterScale (double _scale, const char *charname=0)
void	SetGain (double _gain)
	set the gain
void	SetPriority (IK::Priority _pri)
	set the priproty
virtual	~IKConstraint ()
	Destructor.
Protected Member Functions
virtual int	calc_feedback ()=0
	compute the feedback velocity
virtual int	calc_jacobian ()
	Computes the constraint Jacobian.
int	calc_jacobian (Joint *cur)
	the function recursively called for all joints (don't override)
virtual int	calc_jacobian_free (Joint *cur)
virtual int	calc_jacobian_rotate (Joint *cur)
virtual int	calc_jacobian_slide (Joint *cur)
virtual int	calc_jacobian_sphere (Joint *cur)
int	copy_jacobian ()
	copy each constraint Jacobian to the whole Jacobian matrix
Protected Attributes
int	active
int	enabled
	number of constraints
fVec	fb
	Jacobian matrix (n_const x total DOF)
double	gain
	priority
int	i_const
	feedback velocity (n_const)
int	id
	ID (unique to each constraint)
IK *	ik
int	is_dropped
	index in the constraints with the same priority
fMat	J
Joint *	joint
	target joint
char *	joint_name
int	n_const
	weight
IK::Priority	priority
fVec	weight
	feedback gain
Private Member Functions
int	count_constraints ()
Friends
class	IK

Detailed Description

Base class for constraints.

Definition at line 253 of file ik.h.

Constructor & Destructor Documentation

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

Default constructor.

Parameters:

[in]	_ik	pointer to the IK object
[in]	_jname	name of the joint to which the constraint is attached
[in]	_jnt	pointer to the joint
[in]	_pri	priority of the constraint
[in]	_gain	gain of the constraint

Definition at line 266 of file ik.h.

virtual IKConstraint::~IKConstraint ( ) [inline, virtual]

Destructor.

Definition at line 286 of file ik.h.

Member Function Documentation

void IKConstraint::Activate ( ) [inline]

activate the constraint

Definition at line 307 of file ik.h.

int IKConstraint::Active ( ) [inline]

whether the constraint is activate

Definition at line 315 of file ik.h.

virtual int IKConstraint::calc_feedback ( ) [protected, pure virtual]

compute the feedback velocity

Implemented in IKScalarJointLimit, IKCom, IKDesire, and IKHandle.

int IKConstraint::calc_jacobian ( ) [protected, virtual]

Computes the constraint Jacobian.

Computes the constraint Jacobian. implementing the function:

override calc_jacobian_slide() - calc_jacobian_free()
the default implementation of calc_jacobian() calls each function depending on the joint type
overried calc_jacobian()
if the implementation does not depend on the joint type

Reimplemented in IKCom, and IKHandle.

Definition at line 76 of file update_ik.cpp.

int IKConstraint::calc_jacobian ( Joint * cur ) [protected]