Joint limit constraint for 1-DOF joints. More...
#include <ik.h>
Public Member Functions | |
double | GetMax () |
double | GetMin () |
IK::ConstType | GetType () |
Returns the constraint type. | |
IKScalarJointLimit (IK *_ik, const char *_jname, Joint *_jnt, IK::Priority _pri, double _gain) | |
void | SetCharacterScale (double _scale, const char *charname=0) |
void | SetMax (double _q_max) |
void | SetMin (double _q_min) |
~IKScalarJointLimit () | |
Protected Member Functions | |
int | calc_feedback () |
compute the feedback velocity | |
int | calc_jacobian_rotate (Joint *cur) |
int | calc_jacobian_slide (Joint *cur) |
Protected Attributes | |
int | max_limit |
int | min_limit |
double | q_max |
double | q_min |
Friends | |
class | IK |
IKScalarJointLimit::IKScalarJointLimit | ( | IK * | _ik, |
const char * | _jname, | ||
Joint * | _jnt, | ||
IK::Priority | _pri, | ||
double | _gain | ||
) | [inline] |
IKScalarJointLimit::~IKScalarJointLimit | ( | ) | [inline] |
int IKScalarJointLimit::calc_feedback | ( | ) | [protected, virtual] |
int IKScalarJointLimit::calc_jacobian_rotate | ( | Joint * | cur | ) | [protected, virtual] |
int IKScalarJointLimit::calc_jacobian_slide | ( | Joint * | cur | ) | [protected, virtual] |
Reimplemented from IKConstraint.
double IKScalarJointLimit::GetMax | ( | ) | [inline] |
double IKScalarJointLimit::GetMin | ( | ) | [inline] |
IK::ConstType IKScalarJointLimit::GetType | ( | ) | [inline, virtual] |
void IKScalarJointLimit::SetCharacterScale | ( | double | _scale, |
const char * | charname = 0 |
||
) | [virtual] |
Reimplemented from IKConstraint.
void IKScalarJointLimit::SetMax | ( | double | _q_max | ) | [inline] |
void IKScalarJointLimit::SetMin | ( | double | _q_min | ) | [inline] |
friend class IK [friend] |
Reimplemented from IKConstraint.
int IKScalarJointLimit::max_limit [protected] |
int IKScalarJointLimit::min_limit [protected] |
double IKScalarJointLimit::q_max [protected] |
double IKScalarJointLimit::q_min [protected] |