#include <IK_QSegment.h>

Inheritance diagram for IK_QSphericalSegment:

Public Member Functions
	IK_QSphericalSegment ()

Vector3d	Axis (int dof) const

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

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

void	UpdateAngleApply ()

bool	ComputeClampRotation (Vector3d &clamp)

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

void	SetWeight (int axis, double weight)

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)

const double	MaxExtension () const

Matrix3d	BasisChange () const

Vector3d	TranslationChange () const

const Vector3d	GlobalStart () const

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	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 223 of file IK_QSegment.h.

Constructor & Destructor Documentation

◆ IK_QSphericalSegment()

IK_QSphericalSegment::IK_QSphericalSegment ( )

Definition at line 151 of file IK_QSegment.cpp.

Member Function Documentation

◆ Axis()

Vector3d IK_QSphericalSegment::Axis ( int dof ) const

virtual

Implements IK_QSegment.

Definition at line 156 of file IK_QSegment.cpp.

References IK_QSegment::m_global_transform.

◆ ComputeClampRotation()

bool IK_QSphericalSegment::ComputeClampRotation ( Vector3d & clamp )

◆ Lock()

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

virtual

Reimplemented from IK_QSegment.

Definition at line 322 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
	)

virtual

Reimplemented from IK_QSegment.

Definition at line 161 of file IK_QSegment.cpp.

References Clamp, M_PI, and KDL::sin().

◆ SetWeight()

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

virtual

Reimplemented from IK_QSegment.

Definition at line 196 of file IK_QSegment.cpp.

References IK_QSegment::m_weight.

◆ UpdateAngle()

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

virtual

Implements IK_QSegment.

Definition at line 201 of file IK_QSegment.cpp.

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

◆ UpdateAngleApply()

void IK_QSphericalSegment::UpdateAngleApply ( )

virtual

Implements IK_QSegment.

Definition at line 335 of file IK_QSegment.cpp.

References IK_QSegment::m_basis.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IK_QSphericalSegment()

Member Function Documentation

◆ Axis()

◆ ComputeClampRotation()

◆ Lock()

◆ SetLimit()

◆ SetWeight()

◆ UpdateAngle()

◆ UpdateAngleApply()