Base class for constraints. More...

#include <ik.h>

Inheritance diagram for IKConstraint:

[legend]

Public Member Functions
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...

virtual IK::ConstType	GetType ()=0
	Returns the constraint type. 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 ()

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

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

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

virtual	~IKConstraint ()
	Destructor. More...

Protected Member Functions
virtual int	calc_feedback ()=0
	compute the feedback velocity More...

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_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
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...

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::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.

◆ ~IKConstraint()

virtual IKConstraint::~IKConstraint ( )

inlinevirtual

Destructor.

Definition at line 286 of file ik.h.

Member Function Documentation

◆ Activate()

void IKConstraint::Activate ( )

inline

activate the constraint

Definition at line 307 of file ik.h.

◆ Active()

int IKConstraint::Active ( )

inline

whether the constraint is activate

Definition at line 315 of file ik.h.

◆ calc_feedback()

virtual int IKConstraint::calc_feedback ( )

protectedpure virtual

compute the feedback velocity

Implemented in IKScalarJointLimit, IKCom, IKDesire, and IKHandle.

◆ calc_jacobian() [1/2]

int IKConstraint::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 in IKCom, and IKHandle.

Definition at line 76 of file update_ik.cpp.

◆ calc_jacobian() [2/2]

int IKConstraint::calc_jacobian ( Joint * cur )

protected

the function recursively called for all joints (don't override)

Definition at line 84 of file update_ik.cpp.

◆ calc_jacobian_free()

virtual int IKConstraint::calc_jacobian_free ( Joint * cur )

inlineprotectedvirtual

Reimplemented in IKDesire.

Definition at line 378 of file ik.h.

◆ calc_jacobian_rotate()

virtual int IKConstraint::calc_jacobian_rotate ( Joint * cur )

inlineprotectedvirtual

Reimplemented in IKScalarJointLimit, and IKDesire.

Definition at line 369 of file ik.h.

◆ calc_jacobian_slide()

virtual int IKConstraint::calc_jacobian_slide ( Joint * cur )

inlineprotectedvirtual

Reimplemented in IKScalarJointLimit, and IKDesire.

Definition at line 372 of file ik.h.

◆ calc_jacobian_sphere()

virtual int IKConstraint::calc_jacobian_sphere ( Joint * cur )

inlineprotectedvirtual

Reimplemented in IKDesire.

Definition at line 375 of file ik.h.

◆ copy_jacobian()

int IKConstraint::copy_jacobian ( )

protected

copy each constraint Jacobian to the whole Jacobian matrix

Definition at line 446 of file update_ik.cpp.

◆ count_constraints()

int IKConstraint::count_constraints ( )

private

Definition at line 434 of file update_ik.cpp.

◆ Diactivate()

void IKConstraint::Diactivate ( )

inline

diactivate the constraint

Definition at line 311 of file ik.h.

◆ Disable()

void IKConstraint::Disable ( )

inline

disable the constraint

Definition at line 302 of file ik.h.

◆ Dropped()

int IKConstraint::Dropped ( )

inline

Definition at line 350 of file ik.h.

◆ Enable()

void IKConstraint::Enable ( )

inline

enable the constraint

Definition at line 298 of file ik.h.

◆ GetGain()

double IKConstraint::GetGain ( )

inline

get the gain

Definition at line 324 of file ik.h.

◆ GetJoint()

Joint* IKConstraint::GetJoint ( )

inline

Definition at line 344 of file ik.h.

◆ GetPriority()

IK::Priority IKConstraint::GetPriority ( )

inline

get the priproty

Definition at line 333 of file ik.h.

◆ GetType()

virtual IK::ConstType IKConstraint::GetType ( )

pure virtual

Returns the constraint type.

Implemented in IKScalarJointLimit, IKCom, IKDesire, and IKHandle.

◆ iConst()

int IKConstraint::iConst ( )

inline

Definition at line 337 of file ik.h.

◆ ID()

int IKConstraint::ID ( )

inline

Definition at line 347 of file ik.h.

◆ nConst()

int IKConstraint::nConst ( )

inline

Definition at line 340 of file ik.h.

◆ Reset()

virtual int IKConstraint::Reset ( )

inlinevirtual

Reimplemented in IKCom, IKDesire, and IKHandle.

Definition at line 293 of file ik.h.

◆ SetCharacterScale()

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

inlinevirtual

Reimplemented in IKScalarJointLimit, IKDesire, and IKHandle.

Definition at line 355 of file ik.h.

◆ SetGain()

void IKConstraint::SetGain ( double _gain )

inline

set the gain

Definition at line 320 of file ik.h.

◆ SetPriority()

void IKConstraint::SetPriority ( IK::Priority _pri )

inline

set the priproty

Definition at line 329 of file ik.h.

Friends And Related Function Documentation

◆ IK

friend class IK

friend

Definition at line 255 of file ik.h.

Member Data Documentation

◆ active

int IKConstraint::active

protected

Definition at line 400 of file ik.h.

◆ enabled

int IKConstraint::enabled

protected

number of constraints

Definition at line 399 of file ik.h.

◆ fb

fVec IKConstraint::fb

protected

Jacobian matrix (n_const x total DOF)

Definition at line 403 of file ik.h.

◆ gain

double IKConstraint::gain

protected

priority

Definition at line 396 of file ik.h.

◆ i_const

int IKConstraint::i_const

protected

feedback velocity (n_const)

Definition at line 404 of file ik.h.

◆ id

int IKConstraint::id

protected

ID (unique to each constraint)

Definition at line 393 of file ik.h.

◆ ik

IK* IKConstraint::ik

protected

Definition at line 390 of file ik.h.

◆ is_dropped

int IKConstraint::is_dropped

protected

index in the constraints with the same priority

Definition at line 406 of file ik.h.

◆ J

fMat IKConstraint::J

protected

Definition at line 402 of file ik.h.

◆ joint

Joint* IKConstraint::joint

protected

target joint

Definition at line 391 of file ik.h.

◆ joint_name

char* IKConstraint::joint_name

protected

Definition at line 392 of file ik.h.

◆ n_const

int IKConstraint::n_const

protected

weight

Definition at line 398 of file ik.h.

◆ priority

IK::Priority IKConstraint::priority

protected

Definition at line 395 of file ik.h.

◆ weight

fVec IKConstraint::weight

protected

feedback gain

Definition at line 397 of file ik.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ IKConstraint()

◆ ~IKConstraint()

Member Function Documentation

◆ Activate()

◆ Active()

◆ calc_feedback()

◆ calc_jacobian() [1/2]

◆ calc_jacobian() [2/2]

◆ calc_jacobian_free()

◆ calc_jacobian_rotate()

◆ calc_jacobian_slide()

◆ calc_jacobian_sphere()

◆ copy_jacobian()

◆ count_constraints()

◆ Diactivate()

◆ Disable()

◆ Dropped()

◆ Enable()

◆ GetGain()

◆ GetJoint()

◆ GetPriority()

◆ GetType()

◆ iConst()

◆ ID()

◆ nConst()

◆ Reset()

◆ SetCharacterScale()

◆ SetGain()

◆ SetPriority()

Friends And Related Function Documentation

◆ IK

Member Data Documentation

◆ active

◆ enabled

◆ fb

◆ gain

◆ i_const

◆ id

◆ ik

◆ is_dropped

◆ J

◆ joint

◆ joint_name

◆ n_const

◆ priority

◆ weight