IK_QOrientationTask Class Reference

#include <IK_QTask.h>

Inheritance diagram for IK_QOrientationTask:

List of all members.

Public Member Functions
	IK_QOrientationTask (bool primary, const IK_QSegment *segment, const MT_Matrix3x3 &goal)
MT_Scalar	Distance () const
void	ComputeJacobian (IK_QJacobian &jacobian)

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Detailed Description

Definition at line 113 of file IK_QTask.h.

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Constructor & Destructor Documentation

IK_QOrientationTask::IK_QOrientationTask	(	bool	primary,
		const IK_QSegment *	segment,
		const MT_Matrix3x3 &	goal
	)

Definition at line 115 of file IK_QTask.cpp.

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Member Function Documentation

void IK_QOrientationTask::ComputeJacobian

(

IK_QJacobian &

jacobian

)

[virtual]

Implements IK_QTask.

Definition at line 124 of file IK_QTask.cpp.

References IK_QSegment::Axis(), IK_QSegment::DoFId(), MT_Transform::getBasis(), IK_QSegment::GlobalTransform(), i, MT_Vector3::length(), IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, IK_QSegment::NumberOfDoF(), IK_QSegment::Parent(), rot, IK_QJacobian::SetBetas(), IK_QJacobian::SetDerivatives(), and IK_QSegment::Translational().

MT_Scalar IK_QOrientationTask::Distance

(

)

const [inline, virtual]

Implements IK_QTask.

Definition at line 122 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