IKScalarJointLimit Class Reference

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

#include <ik.h>

Inheritance diagram for IKScalarJointLimit:

List of all members.

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

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Detailed Description

Joint limit constraint for 1-DOF joints.

Definition at line 713 of file ik.h.

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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.

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Member Function Documentation

int IKScalarJointLimit::calc_feedback

(

)

[protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 34 of file limit.cpp.

int IKScalarJointLimit::calc_jacobian_rotate

(

Joint *

cur

)

[protected, virtual]

limit.cpp

Reimplemented from IKConstraint.

Definition at line 16 of file limit.cpp.

int IKScalarJointLimit::calc_jacobian_slide

(

Joint *

cur

)

[protected, virtual]

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

(

)

[inline, virtual]

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.

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Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 716 of file ik.h.

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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.

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

• ik.h
• limit.cpp