IK_QSphericalSegment Class Reference

#include <IK_QSegment.h>

Inherits IK_QSegment.

Public Member Functions
	IK_QSphericalSegment ()
Vector3d	Axis (int dof) const override
bool	UpdateAngle (const IK_QJacobian &jacobian, Vector3d &delta, bool *clamp) override
void	Lock (int dof, IK_QJacobian &jacobian, Vector3d &delta) override
void	UpdateAngleApply () override
bool	ComputeClampRotation (Vector3d &clamp)
void	SetLimit (int axis, double lmin, double lmax) override
void	SetWeight (int axis, double weight) override
Public Member Functions inherited from IK_QSegment
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~IK_QSegment ()
void	SetTransform (const Vector3d &start, const Matrix3d &rest_basis, const Matrix3d &basis, const double length)
void	SetParent (IK_QSegment *parent)
IK_QSegment *	Child () const
IK_QSegment *	Sibling () const
IK_QSegment *	Parent () const
void	SetComposite (IK_QSegment *seg)
IK_QSegment *	Composite () const
int	NumberOfDoF () const
int	DoFId () const
void	SetDoFId (int dof_id)
double	MaxExtension () const
Matrix3d	BasisChange () const
Vector3d	TranslationChange () const
Vector3d	GlobalStart () const
Vector3d	GlobalEnd () const
const Affine3d &	GlobalTransform () const
bool	Translational () const
bool	Locked (int dof) const
void	UnLock ()
double	Weight (int dof) const
void	ScaleWeight (int dof, double scale)
void	UpdateTransform (const Affine3d &global)
virtual void	SetBasis (const Matrix3d &basis)
void	PrependBasis (const Matrix3d &mat)
void	Reset ()
virtual void	Scale (double scale)

Additional Inherited Members
Protected Member Functions inherited from IK_QSegment
	IK_QSegment (int num_DoF, bool translational)
void	extracted ()
void	RemoveChild (IK_QSegment *child)
Protected Attributes inherited from IK_QSegment
IK_QSegment *	m_parent
IK_QSegment *	m_child
IK_QSegment *	m_sibling
IK_QSegment *	m_composite
Vector3d	m_start
Matrix3d	m_rest_basis
Matrix3d	m_basis
Vector3d	m_translation
Matrix3d	m_orig_basis
Vector3d	m_orig_translation
double	m_max_extension
Vector3d	m_global_start
Affine3d	m_global_transform
int	m_num_DoF
int	m_DoF_id
bool	m_locked [3]
bool	m_translational
double	m_weight [3]

Detailed Description

Definition at line 216 of file IK_QSegment.h.

Constructor & Destructor Documentation

IK_QSphericalSegment()

IK_QSphericalSegment::IK_QSphericalSegment

(

)

Definition at line 162 of file IK_QSegment.cpp.

References false, and IK_QSegment::IK_QSegment().

Member Function Documentation

Axis()

Vector3d IK_QSphericalSegment::Axis ( int dof ) const

overridevirtual

Implements IK_QSegment.

Definition at line 167 of file IK_QSegment.cpp.

References IK_QSegment::m_global_transform.

ComputeClampRotation()

bool IK_QSphericalSegment::ComputeClampRotation

(

Vector3d &

clamp

)

References clamp().

Lock()

void IK_QSphericalSegment::Lock ( int dof, IK_QJacobian & jacobian, Vector3d & delta )

overridevirtual

Reimplemented from IK_QSegment.

Definition at line 343 of file IK_QSegment.cpp.

References IK_QJacobian::Lock(), IK_QSegment::m_DoF_id, and IK_QSegment::m_locked.

SetLimit()

void IK_QSphericalSegment::SetLimit ( int axis, double lmin, double lmax )

overridevirtual

Reimplemented from IK_QSegment.

Definition at line 172 of file IK_QSegment.cpp.

References Clamp(), M_PI, and sin.

SetWeight()

void IK_QSphericalSegment::SetWeight ( int axis, double weight )

overridevirtual

Reimplemented from IK_QSegment.

Definition at line 208 of file IK_QSegment.cpp.

References IK_QSegment::m_weight.

UpdateAngle()

bool IK_QSphericalSegment::UpdateAngle ( const IK_QJacobian & jacobian, Vector3d & delta, bool * clamp )

overridevirtual

Implements IK_QSegment.

Definition at line 213 of file IK_QSegment.cpp.

References IK_QJacobian::AngleUpdate(), clamp(), ComputeSwingMatrix(), ComputeTwistMatrix(), cos, CreateMatrix(), EllipseClamp(), FuzzyZero(), M, IK_QSegment::m_basis, IK_QSegment::m_DoF_id, IK_QSegment::m_locked, MatrixToAxisAngle(), sin, SphericalRangeParameters(), and w().

UpdateAngleApply()

void IK_QSphericalSegment::UpdateAngleApply ( )

overridevirtual

Implements IK_QSegment.

Definition at line 356 of file IK_QSegment.cpp.

References IK_QSegment::m_basis.

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

• IK_QSegment.h
• IK_QSegment.cpp