IK_QOrientationTask Class Reference

#include <IK_QTask.h>

Inherits IK_QTask.

Public Member Functions
	IK_QOrientationTask (bool primary, const IK_QSegment *segment, const Matrix3d &goal)
double	Distance () const override
void	ComputeJacobian (IK_QJacobian &jacobian) override
Public Member Functions inherited from IK_QTask
	IK_QTask (int size, bool primary, bool active, const IK_QSegment *segment)
virtual	~IK_QTask ()=default
int	Id () const
void	SetId (int id)
int	Size () const
bool	Primary () const
bool	Active () const
double	Weight () const
void	SetWeight (double weight)
virtual bool	PositionTask () const
virtual void	Scale (double)

Additional Inherited Members
Protected Attributes inherited from IK_QTask
int	m_id
int	m_size
bool	m_primary
bool	m_active
const IK_QSegment *	m_segment
double	m_weight

Detailed Description

Definition at line 98 of file IK_QTask.h.

Constructor & Destructor Documentation

IK_QOrientationTask()

IK_QOrientationTask::IK_QOrientationTask	(	bool	primary,
		const IK_QSegment *	segment,
		const Matrix3d &	goal )

Definition at line 82 of file IK_QTask.cpp.

References IK_QTask::IK_QTask(), and true.

Member Function Documentation

ComputeJacobian()

void IK_QOrientationTask::ComputeJacobian ( IK_QJacobian & jacobian )

overridevirtual

Implements IK_QTask.

Definition at line 89 of file IK_QTask.cpp.

References IK_QSegment::Axis(), IK_QSegment::DoFId(), i, IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, IK_QSegment::NumberOfDoF(), IK_QSegment::Parent(), rot, IK_QJacobian::SetBetas(), IK_QJacobian::SetDerivatives(), and IK_QSegment::Translational().

Distance()

double IK_QOrientationTask::Distance ( ) const

inlineoverridevirtual

Implements IK_QTask.

Definition at line 102 of file IK_QTask.h.

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

• IK_QTask.h
• IK_QTask.cpp