IK_QOrientationTask Class Reference

#include <IK_QTask.h>

Inheritance diagram for IK_QOrientationTask:

Public Member Functions
	IK_QOrientationTask (bool primary, const IK_QSegment *segment, const Matrix3d &goal)
double	Distance () const
void	ComputeJacobian (IK_QJacobian &jacobian)
Public Member Functions inherited from IK_QTask
	IK_QTask (int size, bool primary, bool active, const IK_QSegment *segment)
virtual	~IK_QTask ()
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 101 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 79 of file IK_QTask.cpp.

Member Function Documentation

ComputeJacobian()

void IK_QOrientationTask::ComputeJacobian ( IK_QJacobian &  jacobian )

virtual

Implements IK_QTask.

Definition at line 86 of file IK_QTask.cpp.

References IK_QSegment::Axis(), IK_QSegment::DoFId(), IK_QSegment::GlobalTransform(), 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(), IK_QSegment::Translational(), and transpose().

Distance()

double IK_QOrientationTask::Distance ( ) const

inlinevirtual

Implements IK_QTask.

Definition at line 105 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