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IK_QJacobianSolver Class Reference

#include <IK_QJacobianSolver.h>

List of all members.


Detailed Description

Id
IK_QJacobianSolver.h 14444 2008-04-16 22:40:48Z hos
***** BEGIN GPL LICENSE BLOCK *****

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. All rights reserved.

The Original Code is: all of this file.

Original Author: Laurence Contributor(s): Brecht

***** END GPL LICENSE BLOCK *****

Author:
Laurence Bourn
Date:
28/6/2001

Definition at line 48 of file IK_QJacobianSolver.h.


Public Member Functions

float GetPoleAngle ()
 IK_QJacobianSolver ()
void SetPoleVectorConstraint (IK_QSegment *tip, MT_Vector3 &goal, MT_Vector3 &polegoal, float poleangle, bool getangle)
bool Setup (IK_QSegment *root, std::list< IK_QTask * > &tasks)
bool Solve (IK_QSegment *root, std::list< IK_QTask * > tasks, const MT_Scalar tolerance, const int max_iterations)

Private Member Functions

void AddSegmentList (IK_QSegment *seg)
MT_Scalar ComputeScale ()
void ConstrainPoleVector (IK_QSegment *root, std::list< IK_QTask * > &tasks)
void Scale (float scale, std::list< IK_QTask * > &tasks)
bool UpdateAngles (MT_Scalar &norm)

Private Attributes

bool m_getpoleangle
MT_Vector3 m_goal
IK_QJacobian m_jacobian
IK_QJacobian m_jacobian_sub
float m_poleangle
bool m_poleconstraint
MT_Vector3 m_polegoal
IK_QSegmentm_poletip
MT_Transform m_rootmatrix
bool m_secondary_enabled
std::vector< IK_QSegment * > m_segments

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

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