IK_QCenterOfMassTask Class Reference

#include <IK_QTask.h>

Inherits IK_QTask.

Public Member Functions
	IK_QCenterOfMassTask (bool primary, const IK_QSegment *segment, const Vector3d &center)
void	ComputeJacobian (IK_QJacobian &jacobian)
double	Distance () 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)
virtual bool	PositionTask () const

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 113 of file IK_QTask.h.

Constructor & Destructor Documentation

IK_QCenterOfMassTask()

IK_QCenterOfMassTask::IK_QCenterOfMassTask	(	bool	primary,
		const IK_QSegment *	segment,
		const Vector3d &	center )

Definition at line 126 of file IK_QTask.cpp.

References FuzzyZero(), and IK_QTask::m_segment.

Member Function Documentation

ComputeJacobian()

void IK_QCenterOfMassTask::ComputeJacobian ( IK_QJacobian & jacobian )

virtual

Implements IK_QTask.

Definition at line 187 of file IK_QTask.cpp.

References IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, and IK_QJacobian::SetBetas().

Distance()

double IK_QCenterOfMassTask::Distance ( ) const

virtual

Implements IK_QTask.

Definition at line 207 of file IK_QTask.cpp.

Scale()

void IK_QCenterOfMassTask::Scale ( double scale )

inlinevirtual

Reimplemented from IK_QTask.

Definition at line 121 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