Inherited by IK_QCenterOfMassTask, IK_QOrientationTask, and IK_QPositionTask.
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 *****
Public Member Functions
|bool||Active () const|
|virtual void||ComputeJacobian (IK_QJacobian &jacobian)=0|
|virtual MT_Scalar||Distance () const =0|
|int||Id () const|
|IK_QTask (int size, bool primary, bool active, const IK_QSegment *segment)|
|virtual bool||PositionTask () const|
|bool||Primary () const|
|virtual void||Scale (float scale)|
|void||SetId (int id)|
|void||SetWeight (MT_Scalar weight)|
|int||Size () const|
|MT_Scalar||Weight () const|
|const IK_QSegment *||m_segment|