IK_QTask Class Reference

#include <IK_QTask.h>

Inherited by IK_QCenterOfMassTask, IK_QOrientationTask, and IK_QPositionTask.

Public Member Functions
	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 void	ComputeJacobian (IK_QJacobian &jacobian)=0
virtual double	Distance () const =0
virtual bool	PositionTask () const
virtual void	Scale (double)

Protected Attributes
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 15 of file IK_QTask.h.

Constructor & Destructor Documentation

IK_QTask()

IK_QTask::IK_QTask	(	int	size,
		bool	primary,
		bool	active,
		const IK_QSegment *	segment )

Definition at line 13 of file IK_QTask.cpp.

References active, m_active, m_primary, m_segment, m_size, m_weight, and size().

Referenced by IK_QCenterOfMassTask::IK_QCenterOfMassTask(), IK_QOrientationTask::IK_QOrientationTask(), and IK_QPositionTask::IK_QPositionTask().

~IK_QTask()

virtual IK_QTask::~IK_QTask ( )

virtualdefault

Member Function Documentation

Active()

bool IK_QTask::Active ( ) const

inline

Definition at line 40 of file IK_QTask.h.

References m_active.

ComputeJacobian()

virtual void IK_QTask::ComputeJacobian ( IK_QJacobian & jacobian )

pure virtual

Implemented in IK_QCenterOfMassTask, IK_QOrientationTask, and IK_QPositionTask.

Distance()

virtual double IK_QTask::Distance ( ) const

pure virtual

Implemented in IK_QCenterOfMassTask, IK_QOrientationTask, and IK_QPositionTask.

Id()

int IK_QTask::Id ( ) const

inline

Definition at line 20 of file IK_QTask.h.

References m_size.

PositionTask()

virtual bool IK_QTask::PositionTask ( ) const

inlinevirtual

Reimplemented in IK_QPositionTask.

Definition at line 59 of file IK_QTask.h.

Primary()

bool IK_QTask::Primary ( ) const

inline

Definition at line 35 of file IK_QTask.h.

References m_primary.

Referenced by IK_QJacobianSolver::Setup().

Scale()

virtual void IK_QTask::Scale ( double )

inlinevirtual

Reimplemented in IK_QCenterOfMassTask, and IK_QPositionTask.

Definition at line 64 of file IK_QTask.h.

SetId()

void IK_QTask::SetId ( int id )

inline

Definition at line 25 of file IK_QTask.h.

References m_id.

Referenced by IK_QJacobianSolver::Setup().

SetWeight()

void IK_QTask::SetWeight ( double weight )

inline

Definition at line 50 of file IK_QTask.h.

References m_weight, and sqrt.

Referenced by IK_SolverAddGoal(), IK_SolverAddGoalOrientation(), and IK_QJacobianSolver::Setup().

Size()

int IK_QTask::Size ( ) const

inline

Definition at line 30 of file IK_QTask.h.

References m_size.

Referenced by IK_QJacobianSolver::Setup().

Weight()

double IK_QTask::Weight ( ) const

inline

Definition at line 45 of file IK_QTask.h.

References m_weight.

Referenced by IK_QJacobianSolver::Setup().

Member Data Documentation

m_active

bool IK_QTask::m_active

protected

Definition at line 70 of file IK_QTask.h.

Referenced by Active(), and IK_QTask().

m_id

int IK_QTask::m_id

protected

Definition at line 67 of file IK_QTask.h.

Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), IK_QPositionTask::ComputeJacobian(), and SetId().

m_primary

bool IK_QTask::m_primary

protected

Definition at line 69 of file IK_QTask.h.

Referenced by IK_QTask(), and Primary().

m_segment

const IK_QSegment* IK_QTask::m_segment

protected

Definition at line 71 of file IK_QTask.h.

Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), IK_QPositionTask::ComputeJacobian(), IK_QPositionTask::Distance(), IK_QCenterOfMassTask::IK_QCenterOfMassTask(), IK_QPositionTask::IK_QPositionTask(), and IK_QTask().

m_size

int IK_QTask::m_size

protected

Definition at line 68 of file IK_QTask.h.

Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), IK_QPositionTask::ComputeJacobian(), Id(), IK_QTask(), and Size().

m_weight

double IK_QTask::m_weight

protected

Definition at line 72 of file IK_QTask.h.

Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), IK_QPositionTask::ComputeJacobian(), IK_QTask(), SetWeight(), and Weight().

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

• IK_QTask.h
• IK_QTask.cpp