IKHandle Class Reference

Position constraint. More...

#include <ik.h>

Inheritance diagram for IKHandle:

List of all members.

Public Member Functions
void	GetAtt (fMat33 &_abs_att)
	obtain constraint orientation
void	GetConstIndex (IK::ConstIndex _cindex[])
void	GetPos (fVec3 &_abs_pos)
	obtain constraint position
IK::ConstType	GetType ()
	Returns the constraint type.
	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
void	SetAtt (const fMat33 &_abs_att)
	set the constraint orientation
void	SetCharacterScale (double _scale, const char *charname=0)
void	SetPos (const fVec3 &_abs_pos)
	set the constraint position
void	SetRelPos (const fVec3 &_rel_pos)
	set relative position of the constraint
	~IKHandle ()
Protected Member Functions
int	calc_feedback ()
	compute the feedback velocity
int	calc_jacobian ()
	Computes the constraint Jacobian.
Protected Attributes
fMat33	abs_att
	current constraint orientation
fVec3	abs_pos
	current constraint position
IK::ConstIndex	const_index [6]
	with/without constraint for each DOF
Joint *	other_joint
	connected to other joint: constrains the relative position and/or orientation w.r.t. other_joint's frame
fMat33	rel_att
fVec3	rel_pos
Friends
class	IK

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Detailed Description

Position constraint.

Definition at line 416 of file ik.h.

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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.

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Member Function Documentation

int IKHandle::calc_feedback

(

)

[protected, virtual]

compute the feedback velocity

Implements IKConstraint.

Definition at line 72 of file handle.cpp.

int IKHandle::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 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

(

)

[inline, virtual]

Returns the constraint type.

Implements IKConstraint.

Definition at line 522 of file ik.h.

int IKHandle::Reset

(

)

[inline, virtual]

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.

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Friends And Related Function Documentation

friend class IK [friend]

Reimplemented from IKConstraint.

Definition at line 419 of file ik.h.

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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.

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

• ik.h
• handle.cpp
• ik.cpp