IK_Solver.cpp File Reference

#include "../extern/IK_solver.h"
#include "IK_QJacobianSolver.h"
#include "IK_QSegment.h"
#include "IK_QTask.h"
#include <algorithm>
#include <list>

Go to the source code of this file.

Classes
class	IK_QSolver

Functions
static IK_QSegment *	CreateSegment (int flag, bool translate)
IK_Segment *	IK_CreateSegment (int flag)
void	IK_FreeSegment (IK_Segment *seg)
void	IK_SetParent (IK_Segment *seg, IK_Segment *parent)
void	IK_SetTransform (IK_Segment *seg, float start[3], float rest[][3], float basis[][3], float length)
void	IK_SetLimit (IK_Segment *seg, IK_SegmentAxis axis, float lmin, float lmax)
void	IK_SetStiffness (IK_Segment *seg, IK_SegmentAxis axis, float stiffness)
void	IK_GetBasisChange (IK_Segment *seg, float basis_change[][3])
void	IK_GetTranslationChange (IK_Segment *seg, float *translation_change)
IK_Solver *	IK_CreateSolver (IK_Segment *root)
void	IK_FreeSolver (IK_Solver *solver)
void	IK_SolverAddGoal (IK_Solver *solver, IK_Segment *tip, float goal[3], float weight)
void	IK_SolverAddGoalOrientation (IK_Solver *solver, IK_Segment *tip, float goal[][3], float weight)
void	IK_SolverSetPoleVectorConstraint (IK_Solver *solver, IK_Segment *tip, float goal[3], float polegoal[3], float poleangle, int getangle)
float	IK_SolverGetPoleAngle (IK_Solver *solver)
int	IK_Solve (IK_Solver *solver, float tolerance, int max_iterations)

Function Documentation

CreateSegment()

IK_QSegment * CreateSegment ( int flag, bool translate )

static

Definition at line 30 of file IK_Solver.cpp.

References flag, IK_XDOF, IK_YDOF, and IK_ZDOF.

Referenced by IK_CreateSegment().

IK_CreateSegment()

IK_Segment * IK_CreateSegment

(

int

flag

)

Definition at line 98 of file IK_Solver.cpp.

References CreateSegment(), flag, rot, IK_QSegment::SetComposite(), and IK_QSegment::SetParent().

Referenced by execute_posetree().

IK_CreateSolver()

IK_Solver * IK_CreateSolver

(

IK_Segment *

root

)

Definition at line 288 of file IK_Solver.cpp.

References IK_QSolver::root.

Referenced by execute_posetree().

IK_FreeSegment()

void IK_FreeSegment

(

IK_Segment *

seg

)

Definition at line 125 of file IK_Solver.cpp.

References IK_QSegment::Composite().

Referenced by execute_posetree().

IK_FreeSolver()

void IK_FreeSolver

(

IK_Solver *

solver

)

Definition at line 300 of file IK_Solver.cpp.

References IK_QSolver::tasks.

Referenced by execute_posetree().

IK_GetBasisChange()

void IK_GetBasisChange	(	IK_Segment *	seg,
		float	basis_change[][3] )

Definition at line 251 of file IK_Solver.cpp.

References IK_QSegment::BasisChange(), IK_QSegment::Composite(), float, and IK_QSegment::Translational().

Referenced by execute_posetree().

IK_GetTranslationChange()

void IK_GetTranslationChange	(	IK_Segment *	seg,
		float *	translation_change )

Definition at line 273 of file IK_Solver.cpp.

References IK_QSegment::Composite(), float, IK_QSegment::Translational(), and IK_QSegment::TranslationChange().

Referenced by execute_posetree().

IK_SetLimit()

void IK_SetLimit	(	IK_Segment *	seg,
		IK_SegmentAxis	axis,
		float	lmin,
		float	lmax )

Definition at line 188 of file IK_Solver.cpp.

References IK_QSegment::Composite(), IK_TRANS_X, IK_TRANS_Y, IK_X, IK_Y, IK_Z, IK_QSegment::SetLimit(), and IK_QSegment::Translational().

Referenced by execute_posetree().

IK_SetParent()

void IK_SetParent	(	IK_Segment *	seg,
		IK_Segment *	parent )

Definition at line 135 of file IK_Solver.cpp.

References IK_QSegment::Composite(), and IK_QSegment::SetParent().

Referenced by execute_posetree().

IK_SetStiffness()

void IK_SetStiffness	(	IK_Segment *	seg,
		IK_SegmentAxis	axis,
		float	stiffness )

Definition at line 216 of file IK_Solver.cpp.

References IK_QSegment::Composite(), IK_STRETCH_STIFF_EPS, IK_TRANS_X, IK_TRANS_Y, IK_X, IK_Y, IK_Z, IK_QSegment::SetWeight(), and IK_QSegment::Translational().

Referenced by execute_posetree().

IK_SetTransform()

void IK_SetTransform	(	IK_Segment *	seg,
		float	start[3],
		float	rest[][3],
		float	basis[][3],
		float	length )

Definition at line 148 of file IK_Solver.cpp.

References IK_QSegment::Composite(), CreateMatrix(), length(), and IK_QSegment::SetTransform().

Referenced by execute_posetree().

IK_Solve()

int IK_Solve	(	IK_Solver *	solver,
		float	tolerance,
		int	max_iterations )

Definition at line 426 of file IK_Solver.cpp.

References result, IK_QSolver::root, IK_QJacobianSolver::Setup(), IK_QJacobianSolver::Solve(), IK_QSolver::solver, and IK_QSolver::tasks.

Referenced by execute_posetree().

IK_SolverAddGoal()

void IK_SolverAddGoal	(	IK_Solver *	solver,
		IK_Segment *	tip,
		float	goal[3],
		float	weight )

Definition at line 317 of file IK_Solver.cpp.

References IK_QSegment::Composite(), pos, IK_QTask::SetWeight(), and IK_QSolver::tasks.

Referenced by execute_posetree().

IK_SolverAddGoalOrientation()

void IK_SolverAddGoalOrientation	(	IK_Solver *	solver,
		IK_Segment *	tip,
		float	goal[][3],
		float	weight )

Definition at line 338 of file IK_Solver.cpp.

References IK_QSegment::Composite(), CreateMatrix(), rot, IK_QTask::SetWeight(), and IK_QSolver::tasks.

Referenced by execute_posetree().

IK_SolverGetPoleAngle()

float IK_SolverGetPoleAngle

(

IK_Solver *

solver

)

Definition at line 393 of file IK_Solver.cpp.

References IK_QJacobianSolver::GetPoleAngle(), and IK_QSolver::solver.

Referenced by execute_posetree().

IK_SolverSetPoleVectorConstraint()

void IK_SolverSetPoleVectorConstraint	(	IK_Solver *	solver,
		IK_Segment *	tip,
		float	goal[3],
		float	polegoal[3],
		float	poleangle,
		int	getangle )

Definition at line 368 of file IK_Solver.cpp.

References IK_QSegment::Composite(), IK_QJacobianSolver::SetPoleVectorConstraint(), and IK_QSolver::solver.

Referenced by execute_posetree().