Center of mass position. More...
#include <ik.h>
Inheritance diagram for IKCom:
Public Member Functions | |
| IK::ConstType | GetType () |
| Returns the constraint type. More... | |
| IKCom (IK *_ik, const char *_charname, IK::ConstIndex cindex[3], IK::Priority _pri, double _gain) | |
| int | Reset () |
| void | SetPos (const fVec3 &p) |
| ~IKCom () | |
 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 () |
| 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 | |
| int | calc_feedback () |
| compute the feedback velocity More... | |
| int | calc_jacobian () |
| Computes the constraint Jacobian. More... | |
| Protected Member Functions inherited from IKConstraint | |
| 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 | |
| char * | charname |
| target character name More... | |
| IK::ConstIndex | const_index [3] |
| which of three directions (x, y, z) are constrained More... | |
| fVec3 | cur_com |
| current COM position More... | |
| fVec3 | des_com |
| desired COM position 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... | |
Detailed Description
Constructor & Destructor Documentation
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inline |
Member Function Documentation
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protectedvirtual |
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protectedvirtual |
Computes the constraint Jacobian.
Computes the constraint Jacobian. implementing the function:
- override
calc_jacobian_slide()-calc_jacobian_free()
the default implementation ofcalc_jacobian()calls each function depending on the joint type - overried
calc_jacobian()
if the implementation does not depend on the joint type
Reimplemented from IKConstraint.
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inlinevirtual |
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inlinevirtual |
Reimplemented from IKConstraint.
Member Data Documentation
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protected |
The documentation for this class was generated from the following files: