Joint limit constraint for 1-DOF joints. More...

#include <ik.h>

Inheritance diagram for IKScalarJointLimit:

Public Member Functions
double	GetMax ()

double	GetMin ()

IK::ConstType	GetType ()
	Returns the constraint type. More...

	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 ()

Public Member Functions inherited from IKConstraint
void	Activate ()
	activate the constraint More...

int	Active ()
	whether the constraint is activate More...

void	Diactivate ()
	diactivate the constraint More...

void	Disable ()
	disable the constraint More...

int	Dropped ()

void	Enable ()
	enable the constraint More...

double	GetGain ()
	get the gain More...

Joint *	GetJoint ()

IK::Priority	GetPriority ()
	get the priproty More...

int	iConst ()

int	ID ()

	IKConstraint (IK _ik, const char _jname, Joint *_jnt, IK::Priority _pri, double _gain)
	Default constructor. More...

int	nConst ()

virtual int	Reset ()

void	SetGain (double _gain)
	set the gain More...

void	SetPriority (IK::Priority _pri)
	set the priproty More...

virtual	~IKConstraint ()
	Destructor. More...

Protected Member Functions
int	calc_feedback ()
	compute the feedback velocity More...

int	calc_jacobian_rotate (Joint *cur)

int	calc_jacobian_slide (Joint *cur)

Protected Member Functions inherited from IKConstraint
virtual int	calc_jacobian ()
	Computes the constraint Jacobian. More...

int	calc_jacobian (Joint *cur)
	the function recursively called for all joints (don't override) More...

virtual int	calc_jacobian_free (Joint *cur)

virtual int	calc_jacobian_sphere (Joint *cur)

int	copy_jacobian ()
	copy each constraint Jacobian to the whole Jacobian matrix More...

Protected Attributes
int	max_limit

int	min_limit

double	q_max

double	q_min

Protected Attributes inherited from IKConstraint
int	active

int	enabled
	number of constraints More...

fVec	fb
	Jacobian matrix (n_const x total DOF) More...

double	gain
	priority More...

int	i_const
	feedback velocity (n_const) More...

int	id
	ID (unique to each constraint) More...

IK *	ik

int	is_dropped
	index in the constraints with the same priority More...

fMat	J

Joint *	joint
	target joint More...

char *	joint_name

int	n_const
	weight More...

IK::Priority	priority

fVec	weight
	feedback gain More...

Friends
class	IK

Detailed Description

Joint limit constraint for 1-DOF joints.

Definition at line 713 of file ik.h.

Constructor & Destructor Documentation

IKScalarJointLimit::IKScalarJointLimit	(	IK *	_ik,
		const char *	_jname,
		Joint *	_jnt,
		IK::Priority	_pri,
		double	_gain
	)

inline

Definition at line 718 of file ik.h.

IKScalarJointLimit::~IKScalarJointLimit ( )

inline

Definition at line 741 of file ik.h.

Member Function Documentation

int IKScalarJointLimit::calc_feedback ( )

protectedvirtual

compute the feedback velocity

Implements IKConstraint.

Definition at line 34 of file limit.cpp.

int IKScalarJointLimit::calc_jacobian_rotate ( Joint * cur )

protectedvirtual

limit.cpp

Reimplemented from IKConstraint.

Definition at line 16 of file limit.cpp.

int IKScalarJointLimit::calc_jacobian_slide ( Joint * cur )

protectedvirtual

Reimplemented from IKConstraint.

Definition at line 25 of file limit.cpp.

double IKScalarJointLimit::GetMax ( )

inline

Definition at line 756 of file ik.h.

double IKScalarJointLimit::GetMin ( )

inline

Definition at line 759 of file ik.h.

IK::ConstType IKScalarJointLimit::GetType ( )

inlinevirtual

Returns the constraint type.

Implements IKConstraint.

Definition at line 744 of file ik.h.

void IKScalarJointLimit::SetCharacterScale	(	double	_scale,
		const char *	charname = `0`
	)

virtual

Reimplemented from IKConstraint.

Definition at line 59 of file limit.cpp.

void IKScalarJointLimit::SetMax ( double _q_max )

inline

Definition at line 748 of file ik.h.

void IKScalarJointLimit::SetMin ( double _q_min )

inline

Definition at line 752 of file ik.h.

Friends And Related Function Documentation

friend class IK

friend

Definition at line 716 of file ik.h.

Member Data Documentation

int IKScalarJointLimit::max_limit

protected

Definition at line 770 of file ik.h.

int IKScalarJointLimit::min_limit

protected

Definition at line 770 of file ik.h.

double IKScalarJointLimit::q_max

protected

Definition at line 771 of file ik.h.

double IKScalarJointLimit::q_min

protected

Definition at line 771 of file ik.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation