IK_QJacobianSolver.cpp File Reference

#include <stdio.h>
#include "IK_QJacobianSolver.h"
#include "MT_Quaternion.h"

Go to the source code of this file.

Functions
static MT_Scalar	safe_acos (MT_Scalar f)
static MT_Vector3	normalize (const MT_Vector3 &v)
static float	angle (const MT_Vector3 &v1, const MT_Vector3 &v2)

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Detailed Description

Definition in file IK_QJacobianSolver.cpp.

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Function Documentation

static float angle	(	const MT_Vector3 &	v1,
		const MT_Vector3 &	v2
	)		[static]

Definition at line 188 of file IK_QJacobianSolver.cpp.

References MT_Vector3::dot(), and safe_acos().

static MT_Vector3 normalize

(

const MT_Vector3 &

v

)

[static]

Definition at line 180 of file IK_QJacobianSolver.cpp.

References len(), MT_Vector3::length(), and MT_fuzzyZero().

static MT_Scalar safe_acos

(

MT_Scalar

f

)

[static]

Definition at line 172 of file IK_QJacobianSolver.cpp.

References acos(), and MT_PI().

Referenced by angle().