IK_QJacobianSolver Class Reference

#include <IK_QJacobianSolver.h>

Public Member Functions
	IK_QJacobianSolver ()
	~IK_QJacobianSolver ()
void	SetPoleVectorConstraint (IK_QSegment *tip, Vector3d &goal, Vector3d &polegoal, float poleangle, bool getangle)
float	GetPoleAngle ()
bool	Setup (IK_QSegment *root, std::list< IK_QTask * > &tasks)
bool	Solve (IK_QSegment *root, std::list< IK_QTask * > tasks, const double tolerance, const int max_iterations)

Detailed Description

Author

Laurence Bourn

Date

28/6/2001

Definition at line 24 of file IK_QJacobianSolver.h.

Constructor & Destructor Documentation

IK_QJacobianSolver()

IK_QJacobianSolver::IK_QJacobianSolver

(

)

Definition at line 14 of file IK_QJacobianSolver.cpp.

~IK_QJacobianSolver()

IK_QJacobianSolver::~IK_QJacobianSolver ( )

inline

Definition at line 27 of file IK_QJacobianSolver.h.

Member Function Documentation

GetPoleAngle()

float IK_QJacobianSolver::GetPoleAngle ( )

inline

Definition at line 32 of file IK_QJacobianSolver.h.

Referenced by IK_SolverGetPoleAngle().

SetPoleVectorConstraint()

void IK_QJacobianSolver::SetPoleVectorConstraint	(	IK_QSegment *	tip,
		Vector3d &	goal,
		Vector3d &	polegoal,
		float	poleangle,
		bool	getangle )

Definition at line 151 of file IK_QJacobianSolver.cpp.

Referenced by IK_SolverSetPoleVectorConstraint().

Setup()

bool IK_QJacobianSolver::Setup	(	IK_QSegment *	root,
		std::list< IK_QTask * > &	tasks )

Definition at line 66 of file IK_QJacobianSolver.cpp.

References IK_QJacobian::ArmMatrices(), FuzzyZero(), IK_QTask::Primary(), IK_QSegment::SetDoFId(), IK_QJacobian::SetDoFWeight(), IK_QTask::SetId(), IK_QTask::SetWeight(), IK_QTask::Size(), and IK_QTask::Weight().

Referenced by IK_Solve().

Solve()

bool IK_QJacobianSolver::Solve	(	IK_QSegment *	root,
		std::list< IK_QTask * >	tasks,
		const double	tolerance,
		const int	max_iterations )

Definition at line 298 of file IK_QJacobianSolver.cpp.

References IK_QJacobian::AngleUpdateNorm(), IK_QJacobian::Invert(), norm(), IK_QSegment::PrependBasis(), IK_QJacobian::SubTask(), and IK_QSegment::UpdateTransform().

Referenced by IK_Solve().

---

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

• IK_QJacobianSolver.h
• IK_QJacobianSolver.cpp