Position constraint. More...

#include <ik.h>

Inheritance diagram for IKHandle:

Public Member Functions
void	GetAtt (fMat33 &_abs_att)
	obtain constraint orientation More...

void	GetConstIndex (IK::ConstIndex _cindex[])

void	GetPos (fVec3 &_abs_pos)
	obtain constraint position More...

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

	IKHandle (IK _ik, const char _jname, Joint _jnt, IK::ConstIndex cindex[6], IK::Priority _pri, double _gain, const fVec3 &_rel_pos=0.0, const fMat33 &_rel_att=1.0, Joint _other_joint=0)

int	Reset ()
	reset the constraint position/orientation by the current values More...

void	SetAtt (const fMat33 &_abs_att)
	set the constraint orientation More...

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

void	SetPos (const fVec3 &_abs_pos)
	set the constraint position More...

void	SetRelPos (const fVec3 &_rel_pos)
	set relative position of the constraint More...

	~IKHandle ()

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 ()

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 ()
	Computes the constraint Jacobian. More...

Protected Member Functions inherited from IKConstraint
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_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 More...

Protected Attributes
fMat33	abs_att
	current constraint orientation More...

fVec3	abs_pos
	current constraint position More...

IK::ConstIndex	const_index [6]
	with/without constraint for each DOF More...

Joint *	other_joint
	connected to other joint: constrains the relative position and/or orientation w.r.t. other_joint's frame More...

fMat33	rel_att

fVec3	rel_pos

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

Position constraint.

Definition at line 416 of file ik.h.

Constructor & Destructor Documentation

IKHandle::IKHandle	(	IK *	_ik,
		const char *	_jname,
		Joint *	_jnt,
		IK::ConstIndex	cindex[6],
		IK::Priority	_pri,
		double	_gain,
		const fVec3 &	_rel_pos = `0.0`,
		const fMat33 &	_rel_att = `1.0`,
		Joint *	_other_joint = `0`
	)

inline

Default constructor.

Parameters

[in]	_ik
[in]	_jname
[in]	_jnt
[in]	cindex
[in]	_pri
[in]	_gain
[in]	_rel_pos	relative position in joint frame (default: 0,0,0)
[in]	_rel_att	relative orientation in joint frame (default: identity)
[in]	_other_joint	joint to which the constraint is attached (default: world)

Definition at line 433 of file ik.h.

IKHandle::~IKHandle ( )

inline

Definition at line 474 of file ik.h.

Member Function Documentation

int IKHandle::calc_feedback ( )

protectedvirtual

compute the feedback velocity

Implements IKConstraint.

Definition at line 72 of file handle.cpp.

int IKHandle::calc_jacobian ( )

protectedvirtual

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 from IKConstraint.

Definition at line 16 of file handle.cpp.

void IKHandle::GetAtt ( fMat33 & _abs_att )

inline

obtain constraint orientation

Definition at line 512 of file ik.h.

void IKHandle::GetConstIndex ( IK::ConstIndex _cindex[] )

inline

Definition at line 526 of file ik.h.

void IKHandle::GetPos ( fVec3 & _abs_pos )

inline

obtain constraint position

Definition at line 508 of file ik.h.

IK::ConstType IKHandle::GetType ( )

inlinevirtual

Returns the constraint type.

Implements IKConstraint.

Definition at line 522 of file ik.h.

int IKHandle::Reset ( )

inlinevirtual

reset the constraint position/orientation by the current values

Reimplemented from IKConstraint.

Definition at line 478 of file ik.h.

void IKHandle::SetAtt ( const fMat33 & _abs_att )

inline

set the constraint orientation

Definition at line 503 of file ik.h.

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

virtual

Reimplemented from IKConstraint.

Definition at line 652 of file ik.cpp.

void IKHandle::SetPos ( const fVec3 & _abs_pos )

inline

set the constraint position

Definition at line 499 of file ik.h.

void IKHandle::SetRelPos ( const fVec3 & _rel_pos )

inline

set relative position of the constraint

Definition at line 517 of file ik.h.

Friends And Related Function Documentation

friend class IK

friend

Definition at line 419 of file ik.h.

Member Data Documentation

fMat33 IKHandle::abs_att

protected

current constraint orientation

Definition at line 541 of file ik.h.

fVec3 IKHandle::abs_pos

protected

current constraint position

Definition at line 540 of file ik.h.

IK::ConstIndex IKHandle::const_index[6]

protected

with/without constraint for each DOF

Definition at line 543 of file ik.h.

Joint* IKHandle::other_joint

protected

connected to other joint: constrains the relative position and/or orientation w.r.t. other_joint's frame

Definition at line 548 of file ik.h.

fMat33 IKHandle::rel_att

protected

Definition at line 545 of file ik.h.

fVec3 IKHandle::rel_pos

protected

Definition at line 544 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