IK_QSphericalSegment Class Reference

#include <IK_QSegment.h>

Inheritance diagram for IK_QSphericalSegment:

List of all members.

Public Member Functions
	IK_QSphericalSegment ()
MT_Vector3	Axis (int dof) const
bool	UpdateAngle (const IK_QJacobian &jacobian, MT_Vector3 &delta, bool *clamp)
void	Lock (int dof, IK_QJacobian &jacobian, MT_Vector3 &delta)
void	UpdateAngleApply ()
bool	ComputeClampRotation (MT_Vector3 &clamp)
void	SetLimit (int axis, MT_Scalar lmin, MT_Scalar lmax)
void	SetWeight (int axis, MT_Scalar weight)

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Detailed Description

Definition at line 215 of file IK_QSegment.h.

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Constructor & Destructor Documentation

IK_QSphericalSegment::IK_QSphericalSegment

(

)

Definition at line 360 of file IK_QSegment.cpp.

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Member Function Documentation

MT_Vector3 IK_QSphericalSegment::Axis

(

int

dof

)

const [virtual]

Implements IK_QSegment.

Definition at line 365 of file IK_QSegment.cpp.

References MT_Transform::getBasis(), and IK_QSegment::m_global_transform.

bool IK_QSphericalSegment::ComputeClampRotation

(

MT_Vector3 &

clamp

)

void IK_QSphericalSegment::Lock	(	int	dof,
		IK_QJacobian &	jacobian,
		MT_Vector3 &	delta
	)		[virtual]

Reimplemented from IK_QSegment.

Definition at line 527 of file IK_QSegment.cpp.

References IK_QJacobian::Lock(), IK_QSegment::m_DoF_id, and IK_QSegment::m_locked.

void IK_QSphericalSegment::SetLimit	(	int	axis,
		MT_Scalar	lmin,
		MT_Scalar	lmax
	)		[virtual]

Reimplemented from IK_QSegment.

Definition at line 370 of file IK_QSegment.cpp.

References MT_clamp(), MT_PI(), and sin().

void IK_QSphericalSegment::SetWeight	(	int	axis,
		MT_Scalar	weight
	)		[virtual]

Reimplemented from IK_QSegment.

Definition at line 405 of file IK_QSegment.cpp.

References IK_QSegment::m_weight.

bool IK_QSphericalSegment::UpdateAngle	(	const IK_QJacobian &	jacobian,
		MT_Vector3 &	delta,
		bool *	clamp
	)		[virtual]

Implements IK_QSegment.

Definition at line 410 of file IK_QSegment.cpp.

References IK_QJacobian::AngleUpdate(), ComputeSwingMatrix(), ComputeTwistMatrix(), cos(), EllipseClamp(), MT_Vector3::length(), M, IK_QSegment::m_basis, IK_QSegment::m_DoF_id, IK_QSegment::m_locked, MatrixToAxisAngle(), MT_fuzzyZero(), sin(), SphericalRangeParameters(), simple_enum_gen::w, MT_Tuple3::x(), MT_Tuple3::y(), and MT_Tuple3::z().

void IK_QSphericalSegment::UpdateAngleApply

(

)

[virtual]

Implements IK_QSegment.

Definition at line 540 of file IK_QSegment.cpp.

References IK_QSegment::m_basis.

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

• IK_QSegment.h
• IK_QSegment.cpp