Desired joint values. More...
#include <ik.h>
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 |
IKDesire::IKDesire | ( | IK * | _ik, |
const char * | _jname, | ||
Joint * | _jnt, | ||
IK::Priority | _pri, | ||
double | _gain | ||
) | [inline] |
IKDesire::~IKDesire | ( | ) | [inline] |
int IKDesire::calc_feedback | ( | ) | [protected, virtual] |
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] |
int IKDesire::Reset | ( | ) | [inline, virtual] |
Reimplemented from IKConstraint.
void IKDesire::SetCharacterScale | ( | double | _scale, |
const char * | charname = 0 |
||
) | [virtual] |
Reimplemented from IKConstraint.
void IKDesire::SetDesire | ( | double | _q | ) | [inline] |
friend class IK [friend] |
Reimplemented from IKConstraint.
fMat33 IKDesire::att_des [protected] |
fVec3 IKDesire::pos_des [protected] |
double IKDesire::q_des [protected] |