Desired joint values. More...

#include <ik.h>

Inheritance diagram for IKDesire:

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

	IKDesire (IK _ik, const char _jname, Joint *_jnt, IK::Priority _pri, double _gain)

int	Reset ()

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

void	SetDesire (double _q)

void	SetDesire (const fMat33 &_att)

void	SetDesire (const fVec3 &_pos, const fMat33 &_att)

void	SetDesire (const fVec3 &_pos)

	~IKDesire ()

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_free (Joint *cur)

int	calc_jacobian_rotate (Joint *cur)

int	calc_jacobian_slide (Joint *cur)

int	calc_jacobian_sphere (Joint *cur)

Protected Member Functions inherited from IKConstraint
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...

int	copy_jacobian ()
	copy each constraint Jacobian to the whole Jacobian matrix More...

Protected Attributes
fMat33	att_des
	desired joint orientation for 3/6 DOF joints More...

fVec3	pos_des
	desired joint position for 6DOF joints More...

double	q_des
	desired joint value for 1DOF joints More...

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

Desired joint values.

Definition at line 555 of file ik.h.

Constructor & Destructor Documentation

IKDesire::IKDesire	(	IK *	_ik,
		const char *	_jname,
		Joint *	_jnt,
		IK::Priority	_pri,
		double	_gain
	)

inline

Definition at line 560 of file ik.h.

IKDesire::~IKDesire ( )

inline

Definition at line 593 of file ik.h.

Member Function Documentation

int IKDesire::calc_feedback ( )

protectedvirtual

compute the feedback velocity

Implements IKConstraint.

Definition at line 65 of file desire.cpp.

int IKDesire::calc_jacobian_free ( Joint * cur )

protectedvirtual

Reimplemented from IKConstraint.

Definition at line 48 of file desire.cpp.

int IKDesire::calc_jacobian_rotate ( Joint * cur )

protectedvirtual

Reimplemented from IKConstraint.

Definition at line 16 of file desire.cpp.

int IKDesire::calc_jacobian_slide ( Joint * cur )

protectedvirtual

Reimplemented from IKConstraint.

Definition at line 25 of file desire.cpp.

int IKDesire::calc_jacobian_sphere ( Joint * cur )

protectedvirtual

Reimplemented from IKConstraint.

Definition at line 34 of file desire.cpp.

IK::ConstType IKDesire::GetType ( )

inlinevirtual

Returns the constraint type.

Implements IKConstraint.

Definition at line 618 of file ik.h.

int IKDesire::Reset ( )

inlinevirtual

Reimplemented from IKConstraint.

Definition at line 596 of file ik.h.

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

virtual

Reimplemented from IKConstraint.

Definition at line 674 of file ik.cpp.

void IKDesire::SetDesire ( double _q )

inline

Definition at line 622 of file ik.h.

void IKDesire::SetDesire ( const fMat33 & _att )

inline

Definition at line 625 of file ik.h.

void IKDesire::SetDesire	(	const fVec3 &	_pos,
		const fMat33 &	_att
	)

inline

Definition at line 628 of file ik.h.

void IKDesire::SetDesire ( const fVec3 & _pos )

inline

Definition at line 632 of file ik.h.

Friends And Related Function Documentation

friend class IK

friend

Definition at line 558 of file ik.h.

Member Data Documentation

fMat33 IKDesire::att_des

protected

desired joint orientation for 3/6 DOF joints

Definition at line 646 of file ik.h.

fVec3 IKDesire::pos_des

protected

desired joint position for 6DOF joints

Definition at line 647 of file ik.h.

double IKDesire::q_des

protected

desired joint value for 1DOF joints

Definition at line 645 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