IK_QPositionTask Class Reference

#include <IK_QTask.h>

Inherits IK_QTask.

Public Member Functions
	IK_QPositionTask (bool primary, const IK_QSegment *segment, const Vector3d &goal)
void	ComputeJacobian (IK_QJacobian &jacobian)
double	Distance () const
bool	PositionTask () const
void	Scale (double scale)
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)

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 75 of file IK_QTask.h.

Constructor & Destructor Documentation

IK_QPositionTask()

IK_QPositionTask::IK_QPositionTask	(	bool	primary,
		const IK_QSegment *	segment,
		const Vector3d &	goal )

Definition at line 20 of file IK_QTask.cpp.

References IK_QTask::m_segment, IK_QSegment::MaxExtension(), and IK_QSegment::Parent().

Member Function Documentation

ComputeJacobian()

void IK_QPositionTask::ComputeJacobian ( IK_QJacobian & jacobian )

virtual

Implements IK_QTask.

Definition at line 38 of file IK_QTask.cpp.

References IK_QSegment::Axis(), IK_QSegment::DoFId(), IK_QSegment::GlobalEnd(), IK_QSegment::GlobalStart(), length(), IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, IK_QSegment::NumberOfDoF(), IK_QSegment::Parent(), pos, IK_QJacobian::SetBetas(), IK_QJacobian::SetDerivatives(), and IK_QSegment::Translational().

Distance()

double IK_QPositionTask::Distance ( ) const

virtual

Implements IK_QTask.

Definition at line 73 of file IK_QTask.cpp.

References IK_QSegment::GlobalEnd(), IK_QTask::m_segment, and pos.

PositionTask()

bool IK_QPositionTask::PositionTask ( ) const

inlinevirtual

Reimplemented from IK_QTask.

Definition at line 83 of file IK_QTask.h.

Scale()

void IK_QPositionTask::Scale ( double scale )

inlinevirtual

Reimplemented from IK_QTask.

Definition at line 87 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