IKCom Class Reference

Center of mass position. More...

#include <ik.h>

Inheritance diagram for IKCom:

List of all members.

Public Member Functions
IK::ConstType	GetType ()
	Returns the constraint type.
	IKCom (IK *_ik, const char *_charname, IK::ConstIndex cindex[3], IK::Priority _pri, double _gain)
int	Reset ()
void	SetPos (const fVec3 &p)
	~IKCom ()
Protected Member Functions
int	calc_feedback ()
	compute the feedback velocity
int	calc_jacobian ()
	Computes the constraint Jacobian.
Protected Attributes
char *	charname
	target character name
IK::ConstIndex	const_index [3]
	which of three directions (x, y, z) are constrained
fVec3	cur_com
	current COM position
fVec3	des_com
	desired COM position

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Detailed Description

Center of mass position.

Definition at line 654 of file ik.h.

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Constructor & Destructor Documentation

IKCom::IKCom	(	IK *	_ik,
		const char *	_charname,
		IK::ConstIndex	cindex[3],
		IK::Priority	_pri,
		double	_gain
	)		[inline]

Definition at line 658 of file ik.h.

IKCom::~IKCom

(

)

[inline]

Definition at line 684 of file ik.h.

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Member Function Documentation

int IKCom::calc_feedback

(

)

[protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 38 of file com.cpp.

int IKCom::calc_jacobian

(

)

[protected, virtual]

Computes the constraint Jacobian.

Computes the constraint Jacobian. implementing the function:

1. override calc_jacobian_slide() - calc_jacobian_free()
   the default implementation of calc_jacobian() calls each function depending on the joint type
2. overried calc_jacobian()
   if the implementation does not depend on the joint type

Reimplemented from IKConstraint.

Definition at line 16 of file com.cpp.

IK::ConstType IKCom::GetType

(

)

[inline, virtual]

Returns the constraint type.

Implements IKConstraint.

Definition at line 688 of file ik.h.

int IKCom::Reset

(

)

[inline, virtual]

Reimplemented from IKConstraint.

Definition at line 691 of file ik.h.

void IKCom::SetPos

(

const fVec3 &

p

)

[inline]

Definition at line 695 of file ik.h.

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Member Data Documentation

char* IKCom::charname [protected]

target character name

Definition at line 704 of file ik.h.

IK::ConstIndex IKCom::const_index[3] [protected]

which of three directions (x, y, z) are constrained

Definition at line 703 of file ik.h.

fVec3 IKCom::cur_com [protected]

current COM position

Definition at line 706 of file ik.h.

fVec3 IKCom::des_com [protected]

desired COM position

Definition at line 705 of file ik.h.

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

• ik.h
• com.cpp